Louis L. Whitcomb, Daniel E. Koditschek, João B. D. Cabrera. Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies. In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 12-14, 1992. pages 2186-2191, IEEE, 1992. [doi]
Abstract is missing.