Yan-Bin Jia, Michael Erdmann. Pose and Motion from Contact. I. J. Robotic Res., 18(5):466-487, 1999. [doi]
@article{JiaE99, title = {Pose and Motion from Contact}, author = {Yan-Bin Jia and Michael Erdmann}, year = {1999}, url = {http://ijr.sagepub.com/cgi/content/abstract/18/5/466}, researchr = {https://researchr.org/publication/JiaE99}, cites = {0}, citedby = {0}, journal = {I. J. Robotic Res.}, volume = {18}, number = {5}, pages = {466-487}, }