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Human safety becomes critical when robot enters the human environment.\udCompliant control can be used to address some safety issues in human-robot\udphysical interaction. This paper proposes an integral sliding mode controller\ud(ISMC) based compliance control scheme for the Bristol Robotics Laboratory's\udhumanoid BERT II robot arm. Apart from introducing a model reference\udcompliance controller, the ISMC scheme is aimed to deal with the robot arm\uddynamic model's inaccuracies and un-modelled nonlinearities. The control\udscheme consists of a feedback linearization (FL) and an ISMC part. In\udaddition, a posture controller has been incorporated to employ the redundant\udDOF and generate human like motion. The desired level of compliance can be\udtuned by selecting the stiffness and damping parameters in the sliding mode\udvariable (compliance reference model). The results show that the compliant\udcontrol is feasible at different levels for BERT II in simulation and\udexperiment. The positioning control has been satisfactorily achieved and\udnonlinearities and un-modelled dynamics have been successfully overcome

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control