# Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators

> Research article (IEEE Transactions on Robotics, 2022) · cited 51× · AI/ML

**Wikidata**: [openalex:W4285253840](https://www.wikidata.org/wiki/openalex:W4285253840)  
**Source**: https://4ort.xyz/entity/safety-aware-hierarchical-passivity-based-variable-compliance-control-for-redundant-manipulators