Todd D. Murphey David Choi Jay Bernheisel Kevin M. Lynch Experiments in the Use of Stable Limit Sets for Parts Handling. 218-224 2004 conf/icmens/2004 ICMENS http://csdl.computer.org/comp/proceedings/icmens/2004/2189/00/21890218abs.htm db/conf/icmens/icmens2004.html#MurpheyCBL04