A simple and efficient procedure for polyhedral assembly partitioning under infinitesimal motions

Leonidas J. Guibas, Dan Halperin, Hirohisa Hirukawa, Jean-Claude Latombe, and Randall H. Wilson
Proc. Int. Conf. Robotics and Automation (ICRA 1995), IEEE, May 1995, vol. 3, pp. 2553–2560
http://robotics.stanford.edu/users/assembly/ICRA95-GHHLW.ps.gz

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