Human-robot　coexisting　is　an　essential　feature　of　the　next　generation　mobile　robot.　A　compliant　robot　control　strategy　based　on　the　extended　social-force　model　for　human-following　and　obstacle　avoidance　in　coexisting-cooperative-cognitive　environment　is　presented.　The　human-following　controller　based　on　impedance　control　can　simultaneously　adjust　human-robot　interaction　force　and　position　deviation　to　carry　out　the　compliant　human-following　of　mobile　robots.　Considering　human-robot-obstacle　interactions,　based　on　the　extended　social-force　model　and　proxemics,　a　control　strategy　for　human-friendly　compliant　human-following　and　obstacle　avoidance　is　designed　to　solve　the　obstacle　avoidance　problem　of　robot　and　ensure　the　human　comfort　and　improving　the　social　acceptance　of　robot　simultaneously.　Simulation　results　show　that　the　proposed　control　strategy　can　realize　human-friendly　compliant　human-following　and　obstacle　avoidance.　©　2023　Acta　Simulata　Systematica　Sinica.　All　rights　reserved.