Contact constraint analysis and determination of geometrically valid contact formations from possible contact primitives

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},
}