Stability of assemblies. - Raju S. Mattikalli; Pradeep K. Khosla; Bruno Repetto; David Baraff (IROS, 1993)

Gravitational stability of frictionless assemblies. - Raju S. Mattikalli; David Baraff; Pradeep K. Khosla; Bruno Repetto (IEEE Trans. Robotics Autom., 1995)