Grasp planning using quadric surface approximation for parallel grippers. - Soichiro Uto; Tokuo Tsuji; Kensuke Harada; Ryo Kurazume; Tsutomu Hasegawa (ROBIO, 2013)

Stability of soft-finger grasp under gravity. - Kensuke Harada; Tokuo Tsuji; Soichiro Uto; Natsuki Yamanobe; Kazuyuki Nagata; Kosei Kitagaki (ICRA, 2014)

Grasp planning for constricted parts of objects approximated with quadric surfaces. - Tokuo Tsuji; Soichiro Uto; Kensuke Harada; Ryo Kurazume; Tsutomu Hasegawa; Ken'ichi Morooka (IROS, 2014)