Mehmet Remzi Dogar Siddhartha S. Srinivasa Push-grasping with dexterous hands: Mechanics and a method. 2123-2130 2010 IROS http://dx.doi.org/10.1109/IROS.2010.5652970 conf/iros/2010 db/conf/iros/iros2010.html#DogarS10