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Although autonomous control of robotic manipulators has been studied forseveral decades, they are not commonly used in safety-critical applications dueto lack of safety and performance guarantees - many of them concerning themodulation of interaction forces. This paper presents a mechanical probingstrategy for estimating the environmental impedance parameters of compliantenvironments, independent a manipulator's controller design, and configuration.The parameter estimates are used in a position-based adaptive force controllerto enable control of interaction forces in compliant, stationary, andnon-stationary environments. This approach is targeted for applications wherethe workspace is constrained and non-stationary, and where force control iscritical to task success. These applications include surgical tasks involvingmanipulation of compliant, delicate, moving tissues. Results show fastparameter estimation and successful force modulation that compensates formotion.

Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface