Robotic Manipulation for Parts Transfer and Orienting: Mechanics, Planning, and Shape Uncertainty
Srinivas Akella
Ph.D. thesis, Carnegie-Mellon Univ., Robotics Inst., Dec 1996
Tech. report CMU-RI-TR-96-38, Carnegie-Mellon Univ., Robotics Inst., Dec 1996
http://www.ri.cmu.edu/pub_files/pub1/akella_srinivas_1996_1/akella_srinivas_1996_1.pdf
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