Hirohisa Hirukawa, Toshihiro Matsui, Kunikatsu Takase. A general algorithm for derivation and analysis of constraint for motion of polyhedra in contact. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1991, Osaka, Japan, November 3-5, 1991. pages 38-43, IEEE, 1991. [doi]
Abstract is missing.