A Sensorless Insertion Strategy for Rigid Planar Parts. - Devin J. Balkcom; E. J. Gottlieb; Jeffrey C. Trinkle (ICRA, 2002)

Computing Wrench Cones for Planar Contact Tasks. - Devin J. Balkcom; Jeffrey C. Trinkle; E. J. Gottlieb (ICRA, 2002)