Hidefumi Wakamatsu Eiji Arai Shinichi Hirai Knotting/Unknotting Manipulation of Deformable Linear Objects. 371-395 2006 25 I. J. Robotic Res. 4 http://ijr.sagepub.com/cgi/content/abstract/25/4/371 db/journals/ijrr/ijrr25.html#WakamatsuAH06