Shape Recognition By Random grasping. - Dukhyun Kang; Kenneth Y. Goldberg (IROS, 1992)

Grasp Recognition Strategies from Empirical Models. - Dukhyun Kang; Kenneth Y. Goldberg (ICRA (3), 1993)

Sorting parts by random grasping. - Dukhyun Kang; Ken Goldberg (IEEE Trans. Robotics Autom., 1995)