Optimal manipulation strategies for orienting planar workpieces by pushing
Yui-Bin Chen,
Doug J. Ierardi,
and Chao-Kuei Hung
Tech. report 94–597, Univ. of Southern California, Dept. of Computer Science, 5 Dec 1994
ftp://usc.edu/pub/csinfo/tech-reports/papers/94-597.ps.Z
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