Add to ORKGImpact modelling and control can be fundamental in robotics, for the execu-tion of tasks that require the interaction of the robot with an external body, ensuring that a stable contact is achieved without rebounds. This chapter examines various issues related to impact modelling and control, devoting a particular attention to the main results of the last decade. After the illustra-tion of some general approaches to impact modelling in robotics applications, various impact control schemes are surveyed, highlighting the possible prob-lems that can limit in practice their performances. For this reason, particu-lar attention is devoted to those control schemes whose performances have been also experimentally tested. A general classication betwe...