Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Planning of one-handed Knotting/Raveling Manipulation of Linear Objects. 1719-1725 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308072 db/conf/icra/icra2004-2.html#WakamatsuTAH04