Manipulation capabilities with simple hands. Rodriguez, A., Mason, M., & Srinivasa, S. In International Symposium on Experimental Robotics, 2010.
bibtex   
@inproceedings{rodriguez2010manipulation,
  title={Manipulation capabilities with simple hands},
  author={Rodriguez, A. and Mason, M.T. and Srinivasa, S.S.},
  year={2010},
  booktitle=iser
}

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