Hirohisa Hirukawa, Yuuki Inoue, Toshihide Yoshimura, Shinzo Kitamura, Satoshi Sakakibara, Makoto Hitomi, Kazutoshi Sumiya. Kraft: An Autonomous Robot Manipulation System Based on Geometrical Modeling and Processing. JRM, 4(5):386-396, 1992. [doi]
Abstract is missing.