@article{article6d37f82b,
title   = {Impedance control as an optimal control problem:: a novel formulation of impedance controllers as a subcase of optimal control},
author = {Furtado, Guilherme Phillips and Americano, Pedro Parik and Forner Cordero, Arturo},
year = {2020},
doi = {10.1007%2Fs40430-020-02586-x},
journal   = {Journal of the Brazilian Society of Mechanical Sciences and Engineering}
}