A method of stable contact motions for force tracking control based on the concept of resonance ratio control is proposed in this research. The similarity in the structure for admittance control for contact motions and two mass resonance systems is derived. From the similarity, it is found that the concept of the resonance ratio control is applicable to force tracking control. Based on the concept of resonance ratio control, an admittance controller for contact motion with the environmental disturbance (EnvD) compensation is proposed. By using the proposed method, vibration suppression in contact motion is realized, even if the environment has no, or insufficient, damping (decay). The response characteristics of contact motion for force tracking control can be determined arbitrarily by the proposed method.