---
publication_id: "OT-2026-000002807"
title: "Method for controlling a robot, and system"
published_at: "2026-09-15T19:15:29.176480Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002807"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1633"
  - "b25j9/1633"
  - "g06f3/011"
  - "b25j13/02"
  - "b25j13/025"
  - "b25j13/025"
---

# Method for controlling a robot, and system

## Abstract

A method for controlling a robot, in which a force and/or movement of a user is transferred to at least one actuated segment of the robot and is detected by the robot in order to control a solid in a fluid, wherein the force and/or movement of the user is transferred to the solid, wherein the actuated segment generates a movement and/or force in dependence of the solid as haptic feed-back, and wherein, in order to determine the force generated by the actuated segment, a fluid force vector is determined which includes the influence of the fluid on the solid, and a solid force vector is determined which includes the influence of the solid.