Media type: E-Article Title: Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots Contributor: Lutscher, Ewald; Dean-Leon, Emmanuel C.; Cheng, Gordon Published: Institute of Electrical and Electronics Engineers (IEEE), 2018 Published in: IEEE Transactions on Robotics, 34 (2018) 1, Seite 280-286 Language: Not determined DOI: 10.1109/tro.2017.2765674 ISSN: 1552-3098; 1941-0468 Origination: Footnote: