Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects. 2505-2510 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#WakamatsuTAH05