Yi Li, Jean-Philippe Saut, Julien Pettré, Anis Sahbani, Philippe Bidaud, Franck Multon. Fast grasp planning by using cord geometry to find grasping points. In 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. pages 3265-3270, IEEE, 2013. [doi]