Hidefumi Wakamatsu Tatsuya Yamasaki Shinichi Hirai Akira Tsumaya Eiji Arai Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles. 1-6 2006 ICARCV http://dx.doi.org/10.1109/ICARCV.2006.345300 conf/icarcv/2006 db/conf/icarcv/icarcv2006.html#WakamatsuYHTA06