Orienting parts by inside-out pulling

Robert-Paul Mario Berretty, Kenneth Y. Goldberg, Mark Overmars, and A. Frank van der Stappen
Proc. 2001 IEEE Int. Conf. Robotics & Automation (ICRA 2001), 2001, pp. 1053–1058
http://www.cs.unc.edu/~berretty/pulling_icra.ps

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