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Chen, I-Ming and Burdick, Joel W. (1993) Finding antipodal point grasps on irregularly shaped objects. IEEE Transactions on Robotics and Automation, 9 (4). pp. 507-512. ISSN 1042-296X. doi:10.1109/70.246063. https://resolver.caltech.edu/CaltechAUTHORS:CHEieeetra93

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