Ryo Nogami Hiroshi Noborio Fumiaki Ujibe Hiroki Fujii Precise Deformation of Rheologic Object under MSD Models with many Voxels and Calibrating Parameters. 1919-1926 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308104 db/conf/icra/icra2004-2.html#NogamiNUF04