M. Pelletier (IREQ), P. O'Reilly, M. Buehler This project is led by M. Pelletier at the robotics division of IREQ (Hydro Quebec). The goal is to develop methodologies for synthesizing compliant robot motions in environments that can move or oscillate due to random disturbances. The motion of the environment is taken into account in the task frame position, which is considered unknown and time-varying, but bounded. The position, velocity and force responses of the coupled robot/environment system are determined and tasks are formulated as inequality constraints on these expressions. The planning and control strategies are experimentally tested with realistic tasks from the automated maintenance of electric power lines, which is currently done manually by Hydro Quebec.