Papers
12
Total Citations
100
H-Index
7
About
Kangwagye Samuel is a robotics and control systems researcher whose work centers on advanced force control, admittance and impedance control, and robust disturbance rejection for industrial and interactive robotic systems. His research addresses one of the field's most persistent challenges: enabling industrial robots — typically designed for rigid, position-controlled tasks — to interact safely and compliantly with humans and unpredictable environments. Samuel's most influential contributions involve integrating Disturbance Observer (DOB) frameworks into force and admittance control architectures. His 2022 paper on Integrated Disturbance Observer-Based Robust Force Control (22 citations) demonstrates how vibrations and environmental uncertainties can be systematically mitigated during contact tasks. Complementary works on admittance control (13 and 10 citations) tackle the inherent conflict between motion performance and contact stability on low-admittance hardware, offering inner-loop shaping strategies that meaningfully expand the operable dynamic range of commercial robots. Beyond manipulation, Samuel has contributed to mobile robotics, developing an autonomous human-following caddie robot, and to medical applications through a robotic platform for human balance disorder assessment. Collectively accumulating nearly 100 citations across a relatively compact publication window, his research provides practical, theoretically grounded tools for deploying robots in collaborative, safety-critical environments — making his work highly relevant to researchers in human-robot interaction, rehabilitation robotics, and industrial automation.
Research Focus
Key Achievements
Top Papers
- 1Integrated Disturbance Observer-Based Robust Force Control22 citations · 2022
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- 9Robotic Stage for Human Balance Disorder Assessment6 citations · 2020
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