Gripping Parts at Concave Vertices. - K. Gopalakrishnan 002; Kenneth Y. Goldberg (ICRA, 2002)

"Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts. - K. Gopalakrishnan 002; Matthew Zaluzec; Rama Koganti; Patricia Deneszczuk; Kenneth Y. Goldberg (ICRA, 2003)

D-space and Deform Closure: a Framework for Holding Deformable Parts. - K. Gopalakrishnan 002; Kenneth Y. Goldberg (ICRA, 2004)

Computing Deform Closure Grasps. - K. Gopalakrishnan 002; Ken Goldberg (WAFR, 2004)

Unilateral fixtures for sheet-metal parts with holes. - Kanakasabapathi Gopalakrishnan; Kenneth Y. Goldberg; Gary M. Bone; Matthew Zaluzec; Rama Koganti; Rich Pearson; Patricia Deneszczuk (IEEE Trans Autom. Sci. Eng., 2004)

D-space and Deform Closure Grasps of Deformable Parts. - K. Gopalakrishnan 002; Kenneth Y. Goldberg (Int. J. Robotics Res., 2005)