Mikihiro KANEKIYO (M2) presented at the 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), held from Sunday, August 17 to Thursday, August 21, 2025, in the Los Angeles. Title: Desired Contact Force Realization in Unknown Environments via Multiple Virtual Dynamics-based Control Framework Authors: Mikihiro KANEKIYO, Hikaru ARITA, Kazuto NAKASHIMA, Kenji TAHARA