Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems.

Michele Aicardi Giuseppe Casalino Giorgio Cannata Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems. 351-364 1996 15 I. J. Robotic Res. 4 db/journals/ijrr/ijrr15.html#AicardiCC96