Curved surface contact patches with quantified uncertainty. Vona, M. & Kanoulas, D. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1439–1446, 2011. IEEE.
bibtex   
@inproceedings{vona2011curved,
  title={Curved surface contact patches with quantified uncertainty},
  author={Vona, Marsette and Kanoulas, Dimitrios},
  booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1439--1446},
  year={2011},
  organization={IEEE}
}

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