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Rimon, Elon and Burdick, Joel W. (1998) Mobility of bodies in contact. II. How forces are generated bycurvature effects. IEEE Transactions on Robotics and Automation, 14 (5). pp. 709-717. ISSN 1042-296X. doi:10.1109/70.720347. https://resolver.caltech.edu/CaltechAUTHORS:RIMieeetra98b

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