Yuji Yamakawa Akio Namiki Masatoshi Ishikawa Makoto Shimojo Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis. 2691-2696 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650802 conf/iros/2008 db/conf/iros/iros2008.html#YamakawaNIS08