@article{robustadaptivebacksteppingimpedancecontr,
  title = {Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments},
  author = {Reza Nazmara and Alap Kshirsagar and Jan Peters and A. Pedro Aguiar},
  year = {2026},
  eprint = {2604.09323},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.09323},
}