Oussama Khatib Peter Thaulad Taizo Yoshikawa Jaeheung Park Torque-position transformer for task control of position controlled robots. 1729-1734 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543450 conf/icra/2008 db/conf/icra/icra2008.html#KhatibTYP08