Dynamic Motion Planning Whole Arm Grasp Systems Based on Switching Contact Modes. - Masahito Yashima; Hideya Yamaguchi (ICRA, 2002)

Randomized manipulation planning for a multi-fingered hand by switching contact modes. - Masahito Yashima; Yoshikazu Shiina; Hideya Yamaguchi (ICRA, 2003)

Complementarity formulation for multi-fingered hand manipulation with rolling and sliding contacts. - Masahito Yashima; Hideya Yamaguchi (ICRA, 2003)