Measuring contact points from displacements with a compliant, articulated robot hand. - Gurdayal S. Koonjul; Garth Zeglin; Nancy S. Pollard (ICRA, 2011)

Real-Time Grasping Planning for Robotic Bin-Picking and Kitting Applications. - Jane Shi; Gurdayal S. Koonjul (IEEE Trans Autom. Sci. Eng., 2017)