On grasping and coordinated manipulation by a multifingered robot hand. Hsu, P., Li, Z., & Sastry, S. S. In Proc. IEEE Int. Conf. Robot. Autom., pages 384–389, April, 1988.
doi  bibtex   
@InProceedings{SCC.Hsu.Li.ea1988,
  author    = {Hsu, P. and Li, Z. and Sastry, S. S.},
  title     = {On grasping and coordinated manipulation by a multifingered robot hand},
  booktitle = {Proc. IEEE Int. Conf. Robot. Autom.},
  year      = {1988},
  pages     = {384--389},
  month     = apr,
  doi       = {10.1109/ROBOT.1988.12078},
  owner     = {Shubhendu Bhasin},
  timestamp = {2017-07-11},
}

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