Jing Xiao, Lixin Zhang. Contact constraint analysis and determination of geometrically valid contact formations from possible contact primitives. IEEE Transactions on Robotics, 13(3):456-466, 1997. [doi]
@article{XiaoZ97, title = {Contact constraint analysis and determination of geometrically valid contact formations from possible contact primitives}, author = {Jing Xiao and Lixin Zhang}, year = {1997}, doi = {10.1109/70.585907}, url = {http://dx.doi.org/10.1109/70.585907}, researchr = {https://researchr.org/publication/XiaoZ97}, cites = {0}, citedby = {0}, journal = {IEEE Transactions on Robotics}, volume = {13}, number = {3}, pages = {456-466}, }