Robust grasping strategy for assembling parts in various shapes. - Hiroki Dobashi; Junichi Hiraoka; Takanori Fukao; Yasuyoshi Yokokohji; Akio Noda; Hikaru Nagano; Tatsuya Nagatani; Haruhisa Okuda; Ken-ichi Tanaka (Adv. Robotics, 2014)