A System For Planning And Executing Two-finger Force-Closure Grasps Of Curved 2D Objects. - Darrell Stam; Jean Ponce; Bernard Faverjon (IROS, 1992)

On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects. - Jean Ponce; Darrell Stam; Bernard Faverjon (Int. J. Robotics Res., 1993)