# Hierarchical Decoupling Controller With Cylinder Separated Model of Hydraulic Manipulators for Contact Force/Motion Control

> Research article (IEEE/ASME Transactions on Mechatronics, 2022) · cited 22× · AI/ML

**Wikidata**: [openalex:W4312757141](https://www.wikidata.org/wiki/openalex:W4312757141)  
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