On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects

@article{Ponce1993OnCT,
  title={On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects},
  author={Jean Ponce and Darrell Stam and Bernard Faverjon},
  journal={I. J. Robotics Res.},
  year={1993},
  volume={12},
  pages={263-273}
}
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