Xin Jiang Kyong-Mo Koo Kohei Kikuchi Atsushi Konno Masaru Uchiyama Robotized Assembly of a Wire Harness in a Car Production Line. 473-489 2011 25 Advanced Robotics 3 http://dx.doi.org/10.1163/016918610X551782 db/journals/ar/ar25.html#JiangKKKU11