# Unified Motion/Force/Impedance Control for Manipulators in Unknown Contact Environments Based on Robust Model-Reaching Approach

> Research article (IEEE/ASME Transactions on Mechatronics, 2021) · cited 76× · AI/ML

**Wikidata**: [openalex:W3160173994](https://www.wikidata.org/wiki/openalex:W3160173994)  
**Source**: https://4ort.xyz/entity/unified-motion-force-impedance-control-for-manipulators-in-unknown-contact-environments-based-on-robust-model-reaching-a