Mathematical Analysis on the Relation between Object Orientation and Contact Forces in the 2D Grasp with Frictions. - Satoshi Ito; Shouta Takeuchi; Minoru Sasaki (SyRoCo, 2009)

Object orientation in two dimensional grasp with friction towards minimization of gripping power. - Satoshi Ito; Shouta Takeuchi; Minoru Sasaki (Biol. Cybern., 2009)