{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T16:21:19Z","timestamp":1776183679002,"version":"3.50.1"},"reference-count":62,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["SPP 2134"],"award-info":[{"award-number":["SPP 2134"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009318","name":"Helmholtz Association","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100009318","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2022,12]]},"DOI":"10.1109\/tro.2022.3174478","type":"journal-article","created":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T19:39:50Z","timestamp":1653507590000},"page":"3899-3916","source":"Crossref","is-referenced-by-count":47,"title":["Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators"],"prefix":"10.1109","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1549-0471","authenticated-orcid":false,"given":"Youssef","family":"Michel","sequence":"first","affiliation":[{"name":"Human-Centered Assistive Robotics Group, Technical University of Munich, Munich, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0987-7493","authenticated-orcid":false,"given":"Christian","family":"Ott","sequence":"additional","affiliation":[{"name":"Automation and Control Institute, Vienna University of Technology, Vienna, Austria"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1897-7664","authenticated-orcid":false,"given":"Dongheui","family":"Lee","sequence":"additional","affiliation":[{"name":"Autonomous Systems Group, Vienna University of Technology, Vienna, Austria"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794197"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2849876"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2158251"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2010.VI.020"},{"key":"ref31","first-page":"54","article-title":"The role of coupling terms in variable impedance policies learning","author":"winter","year":"0","journal-title":"Proc 9th Int Workshop Human-Friendly Robot"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2430053"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142430"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2961478"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2455791"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9234-3"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2945876"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1561\/2600000002"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1090\/S0002-9947-1990-0998124-1"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.2692"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2953662"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2645504"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094445"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914566516"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803320"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631284"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543500"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2512937"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2593492"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2018.8431718"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1007\/978-3-319-20988-3_3","article-title":"Energy-aware robotics","author":"stramigioli","year":"2015","journal-title":"Mathematical Control Theory I"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-40557-5"},{"key":"ref51","author":"stramigioli","year":"2001","journal-title":"Modeling and IPC Control of Interactive Mechanical Systems A Coordinate-Free Approach (Lecture Notes in Control and Information Sciences)"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094697"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824689"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/70.988969"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.11.520"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794225"},{"key":"ref53","author":"dantzig","year":"2006","journal-title":"Linear Programming 1 Introduction"},{"key":"ref52","author":"secchi","year":"2007","journal-title":"Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.1984.4788393"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.01.015"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2509025"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-004-0484-4"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01112.2002"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51547-2_9"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.07.008"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225057"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3066974"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907861"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980070"},{"key":"ref4","first-page":"868","article-title":"Automatic supervisory control of the configuration and behavior of multibody mechanisms","volume":"smc 7","author":"liegeois","year":"1977","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126016"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/BF00126069"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206435"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968249"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385690"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795639"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/1350-4533(95)00054-2"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354803"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487473"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793939"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139036"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(71)90010-8"},{"key":"ref43","year":"2013","journal-title":"Robots and Robotic Devices&#x2014;Saf Requirements for Ind Robots&#x2014;Collaborative Operation"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9970416\/09781629.pdf?arnumber=9781629","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T19:33:19Z","timestamp":1672083199000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9781629\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12]]},"references-count":62,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tro.2022.3174478","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12]]}}}