Youngjun Yoo Dae-Sung Jung Sangchul Won Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function. 1162-1171 2018 101-A IEICE Trans. Fundam. Electron. Commun. Comput. Sci. 8 https://doi.org/10.1587/transfun.E101.A.1162 http://search.ieice.org/bin/summary.php?id=e101-a_8_1162 db/journals/ieicet/ieicet101a.html#YooJW18