There　have　been　significant　interests　and　efforts　in　the　field　of　impedance　control　on　robotic　manipulation　over　last　decades.　Impedance　control　aims　to　achieve　the　desired　mechanical　interaction　between　the　robotic　equipment　and　its　environment.　This　paper　gives　the　overview　and　comparison　of　basic　concepts　and　principles,　implementation　strategies,　crucial　techniques,　and　practical　applications　concerning　the　impedance　control　of　robotic　manipulation.　This　work　attempts　to　serve　as　a　tutorial　to　people　outside　the　field　and　to　promote　discussion　of　a　unified　vision　of　impedance　control　within　the　field　of　robotic　manipulation.　The　goal　is　to　help　readers　quickly　get　into　the　problems　of　their　interests　related　to　impedance　control　of　robotic　manipulation　and　to　provide　guidance　and　insights　in　finding　appropriate　strategies　and　solutions.