Two-fingered caging of polygons via contact-space graph search

Thomas Allen, Joel W. Burdick, Elon Rimon. Two-fingered caging of polygons via contact-space graph search. In IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA. pages 4183-4189, IEEE, 2012. [doi]

Abstract

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