Uncertainty Analysis for Curved Surface Contact Patches. Kanoulas, D., Tsagarakis, N., & Vona, M. In 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016.
bibtex   
@inproceedings{kanoulas2016uncertainty,
  title={Uncertainty Analysis for Curved Surface Contact Patches},
  author={Kanoulas, Dimitrios and Tsagarakis, Nikos and Vona, Marsette},
  booktitle={16th IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
  year={2016}
}

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