Optimal Direction of Grasped Object Minimizing Contact Forces. - Satoshi Ito; Yuuki Mizukoshi; Koji Ishihara; Minoru Sasaki (IROS, 2006)

Numerical analysis for optimal posture of circular object grasped with frictions. - Satoshi Ito; Yuuki Mizukoshi; Minoru Sasaki (IROS, 2007)

The optimal object posture that minimizes contact forces in grasping. - Satoshi Ito; Yuuki Mizukoshi; Koji Ishihara; Minoru Sasaki (J. Frankl. Inst., 2009)