{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:55:11Z","timestamp":1767650111919,"version":"3.41.0"},"reference-count":33,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,7]]},"DOI":"10.1109\/lra.2021.3068951","type":"journal-article","created":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T19:58:14Z","timestamp":1616702294000},"page":"4766-4773","source":"Crossref","is-referenced-by-count":24,"title":["Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1279-3656","authenticated-orcid":false,"given":"Bilal","family":"Hammoud","sequence":"first","affiliation":[{"name":"Tandon School of Engineering, New York University, Brooklyn, NY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9889-6543","authenticated-orcid":false,"given":"Majid","family":"Khadiv","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Tübingen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6458-9112","authenticated-orcid":false,"given":"Ludovic","family":"Righetti","sequence":"additional","affiliation":[{"name":"Tandon School of Engineering, New York University, Brooklyn, NY, USA"}]}],"member":"263","reference":[{"article-title":"Fast and accurate multi-body simulation with stiff viscoelastic contacts","year":"2021","author":"hammoud","key":"ref33"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976639"},{"article-title":"Quaternion kinematics for the error-state kalman filter","year":"2017","author":"sola","key":"ref31"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2019.8700380"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1080\/00207176608921369"},{"key":"ref11","first-page":"222","article-title":"Iterative linear quadratic regulator design for nonlinear biological movement systems","author":"li","year":"2004","journal-title":"ICINCO"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1470308"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2895882"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1080\/00207170701364913"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1973.1100265"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147694"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2010.2518"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1974.1100606"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.1110-06.2007"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140713"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460537"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.976014"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087854"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JTEHM.2016.2601613"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943260"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1038\/35106566"},{"article-title":"Risk sensitive, nonlinear optimal control: Iterative linear exponential-quadratic optimal control with gaussian noise","year":"2015","author":"farshidian","key":"ref20"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_50"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830374"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912469821"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(02)00045-9"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196673"},{"key":"ref25","first-page":"179","article-title":"A unifying framework for linearly solvable control","author":"dvijotham","year":"0","journal-title":"Proc Conf Uncertainty of Artificial Intelligence"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/7083369\/9399748\/9387077-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9399748\/09387077.pdf?arnumber=9387077","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T19:01:25Z","timestamp":1750100485000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9387077\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7]]},"references-count":33,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3068951","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"type":"electronic","value":"2377-3766"},{"type":"electronic","value":"2377-3774"}],"subject":[],"published":{"date-parts":[[2021,7]]}}}