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Robots operating in contact with the environment should typically take into account the knowledge of both position/orientation trajectories as well as the accompanying force/torque profiles for successful execution. Pure position control is not appropriate because even small errors in the desired trajectory can cause significant forces at the contact points. In this paper we present a method that computes an appropriate control policy for a given condition of a contact task, with thedoi:10.1109/humanoids.2016.7803346 dblp:conf/humanoids/KrambergerGNSCM16 fatcat:tr46zuqyr5d5lfsa5xxfxrnej4