Orienting micro-scale parts with squeeze and roll primitives
Mark Moll,
Kenneth Y. Goldberg,
Michael A. Erdmann,
and Ron Fearing
Proc. Int. Conf. Robotics and Automation (ICRA 2002), IEEE, May 2002, pp. 1931–1936
http://www-2.cs.cmu.edu/~mmoll/publications/micromanip.pdf
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