Nak Young Chong, Donghoon Choi, Il Hong Suh. A generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 113-120, IEEE, 1993. [doi]
Abstract is missing.