Jeffrey C. Trinkle, Richard P. Paul. The initial grasp liftability chart. IEEE Transactions on Robotics, 5(1):47-52, 1989. [doi]
@article{TrinkleP89,
title = {The initial grasp liftability chart},
author = {Jeffrey C. Trinkle and Richard P. Paul},
year = {1989},
doi = {10.1109/70.88016},
url = {http://dx.doi.org/10.1109/70.88016},
researchr = {https://researchr.org/publication/TrinkleP89},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {5},
number = {1},
pages = {47-52},
}