The goal of WP6 is to systematically implement, integrate and consolidate the targeted step-changes in basic technologies towards the overarching ability of cognitive compliant interaction in motion. The progress shall be enabled and catalysed by careful engineering and evaluation of the three demonstration scenarios on compliant catching and throwing, in multi-COMAN-human interaction, and in safety-integrated design of multi-arm compliant handling. The development of the respective control architectures can build on tools and experience from the previous project AMARSi on modular skill architectures, which however did not focus on interaction in contact. This workpackage will thus, using these previous and the newly developed tools for the force domain, design, implement and demonstrate the respective robot control systems.