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Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

Ewald Lutscher, Gordon Cheng. Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014. pages 4722-4727, IEEE, 2014. [doi]

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