{"id":"https://openalex.org/W1581836345","doi":"https://doi.org/10.1109/icra.2015.7139708","title":"Object-level impedance control for dexterous manipulation with contact uncertainties using an LMI-based approach","display_name":"Object-level impedance control for dexterous manipulation with contact uncertainties using an LMI-based approach","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1581836345","doi":"https://doi.org/10.1109/icra.2015.7139708","mag":"1581836345"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01138206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082048808","display_name":"Alex Caldas","orcid":"https://orcid.org/0000-0001-9356-4881"},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"A. Caldas","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST","Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France"],"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039093274","display_name":"Alain Micaelli","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210125654","display_name":"Maison de la Simulation","ror":"https://ror.org/03jv6w209","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I195731000","https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210113668","https://openalex.org/I4210125654","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Micaelli","raw_affiliation_strings":["Interactive Simulation Laboratory of CEA-LIST 91192 Gif sur Yvette","Interactive Simulation Laboratory of CEA-LIST 91192 Gif sur Yvette, France"],"affiliations":[{"raw_affiliation_string":"Interactive Simulation Laboratory of CEA-LIST 91192 Gif sur Yvette","institution_ids":["https://openalex.org/I4210125654","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Interactive Simulation Laboratory of CEA-LIST 91192 Gif sur Yvette, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210125654"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874922","display_name":"Mathieu Grossard","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Grossard","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST","Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France"],"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST 91192 Gif sur Yvette, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018927741","display_name":"Maria Makarov","orcid":"https://orcid.org/0000-0002-6954-8993"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Makarov","raw_affiliation_strings":["Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774503","display_name":"Pedro Rodr\u00edguez-Ayerbe","orcid":"https://orcid.org/0000-0001-7452-4155"},"institutions":[{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Rodriguez-Ayerbe","raw_affiliation_strings":["Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053550980","display_name":"Didier Dumur","orcid":"https://orcid.org/0000-0002-0474-5080"},"institutions":[{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Dumur","raw_affiliation_strings":["Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Systemes (L2S, UMR CNRS 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I102197404","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes (L2S, UMR CNRS 8506), CentraleSup\u00e9lec - CNRS -Universit\u00e9 Paris-Sud, 3 rue Joliot-Curie, 91192 Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5082048808"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"],"apc_list":null,"apc_paid":null,"fwci":2.0404,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.87450899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3668","last_page":"3674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.972100019454956,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7083091139793396},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6941996216773987},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6891446113586426},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6106022596359253},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5950440168380737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5540376305580139},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4958237111568451},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4955662488937378},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44009512662887573},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4209766089916229},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41315755248069763},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.40114519000053406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2904641032218933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24867674708366394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1602114737033844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11363029479980469}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7083091139793396},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6941996216773987},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6891446113586426},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6106022596359253},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5950440168380737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5540376305580139},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4958237111568451},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4955662488937378},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44009512662887573},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4209766089916229},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41315755248069763},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.40114519000053406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2904641032218933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24867674708366394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1602114737033844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11363029479980469},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01138206v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01138206","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, WA, United States. pp. 3668 - 3674, ⟨10.1109/ICRA.2015.7139708⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01138206v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01138206","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, WA, United States. pp. 3668 - 3674, ⟨10.1109/ICRA.2015.7139708⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1547135986","https://openalex.org/W1564897360","https://openalex.org/W1798507116","https://openalex.org/W1901378578","https://openalex.org/W1969506947","https://openalex.org/W1992624448","https://openalex.org/W2000992184","https://openalex.org/W2004510166","https://openalex.org/W2013366385","https://openalex.org/W2045484898","https://openalex.org/W2068347015","https://openalex.org/W2093847731","https://openalex.org/W2100238747","https://openalex.org/W2112036576","https://openalex.org/W2115659120","https://openalex.org/W2126701792","https://openalex.org/W2130007788","https://openalex.org/W2151761374","https://openalex.org/W2167055252","https://openalex.org/W2180477471","https://openalex.org/W3210839039","https://openalex.org/W4234100982","https://openalex.org/W6651463400"],"related_works":["https://openalex.org/W2172274897","https://openalex.org/W1568936204","https://openalex.org/W1500387900","https://openalex.org/W1524683553","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2810725684"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,84],"new":[4],"control":[5,36,45,55,80,127,144],"scheme":[6],"for":[7],"dexterous":[8],"manipulation":[9,65,114],"of":[10,19,56,63,112],"an":[11,93,106,125,131],"object":[12,42],"by":[13,92],"multifingered":[15],"hand.":[16],"The":[17,44,78,96,110],"effects":[18],"the":[20,23,35,41,53,57,61,64,72,75,113,117,142,147],"uncertainties":[21,73],"on":[22,74,83,130],"contact":[24,76],"orientation":[25],"and":[26,30,67,101,139],"location":[27],"are":[28,120,137],"investigated":[29],"taken":[31,121],"into":[32,122],"account":[33,123],"in":[34],"design,":[37],"allowing":[38],"to":[39,71,105],"manipulate":[40],"robustly.":[43],"law":[46,145],"has":[47],"three":[48,148],"main":[49,149],"objectives:":[50],"(i)":[51],"ensuring":[52],"motion":[54],"object,":[58],"(ii)":[59],"satisfying":[60],"constraints":[62,111],"system,":[66,115],"(iii)":[68],"being":[69],"robust":[70,89],"point.":[77],"proposed":[79,143],"is":[81,98],"based":[82,129],"state":[85],"feedback":[86],"architecture":[87],"with":[88,124],"pole":[90],"placement":[91],"LMI":[94,133],"approach.":[95],"controller":[97],"designed":[99],"offline":[100],"can":[102],"be":[103],"related":[104],"object-level":[107],"impedance":[108],"controller.":[109],"e.g.":[116],"friction":[118],"constraints,":[119],"additional":[126],"action,":[128],"online":[132],"evaluation.":[134],"Simulation":[135],"results":[136],"presented":[138],"demonstrate":[140],"that":[141],"ensures":[146],"objectives.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}