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Rimon, Elon and Burdick, Joel W. and Omata, Toru (2006) A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements. IEEE Transactions on Robotics, 22 (2). pp. 240-255. ISSN 1552-3098. http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetr06

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