How to manipulate an object robustly with only one actuator (An application of caging)

Weiwei Wan, Rui Fukui, Masamichi Shimosaka, Tomomasa Sato, Yasuo Kuniyoshi. How to manipulate an object robustly with only one actuator (An application of caging). In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-7, 2013. pages 2991-2998, IEEE, 2013. [doi]