Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
Objects that cannot be taken apart with two hands
SCG '93 Proceedings of the ninth annual symposium on Computational geometry
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Lessons learned from a second generation assembly planning system
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
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