Peng Song Jeffrey C. Trinkle Vijay Kumar Jong-Shi Pang Design of Part Feeding and Assembly Processes with Dynamics. 39-44 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307126 db/conf/icra/icra2004-1.html#SongTKP04