@article{ZhengQ05:0,
  title = {Coping with the Grasping Uncertainties in Force-closure Analysis},
  author = {Yu Zheng and Wen-Han Qian},
  year = {2005},
  url = {http://ijr.sagepub.com/cgi/content/abstract/24/4/311},
  tags = {analysis},
  researchr = {https://researchr.org/publication/ZhengQ05%3A0},
  cites = {0},
  citedby = {0},
  journal = {I. J. Robotic Res.},
  volume = {24},
  number = {4},
  pages = {311-327},
}