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Lin, Qiao and Burdick, Joel W. and Rimon, Elon (2004) Computation and analysis of natural compliance in fixturing and grasping arrangements. IEEE Transactions on Robotics, 20 (4). pp. 651-667. ISSN 1552-3098. doi:10.1109/TRO.2004.829470. https://resolver.caltech.edu/CaltechAUTHORS:LINieeetr04

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