Sungkyunkwan University

Kyeong Ha Lee

Ja Choon Koo

Seung Guk Baek

Hyun Jin Lee

Provided are an apparatus and method for controlling a robot. The apparatus includes an active force detector configured to detect an active force, to which a natural force caused by a physical interaction between a user and a robot and not reflecting an operation intention of the user is applied, applied by the user to the robot operating through the physical interaction with the user, a compensator configured to determine a compensation force for actively compensating for the natural force applied to the active force by using a method of optimizing an internal parameter of a predefined dynamics model, and a controller configured to determine an operation instruction for controlling an operation of the robot from a result obtained by applying the compensation force determined by the compensator to the active force detected by the active force detector and operate the robot.

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Seoul, South Korea

Kyeong Ha Lee