Dynamic Analysis and Control Synthesis of Grasping and Slippage of an Object Manipulated by a Robot

S. Hadian Jazi, M. Keshmiri, and F. Sheikholeslam, “Dynamic Analysis and Control Synthesis of Grasping and Slippage of an Object Manipulated by a Robot", Advanced Robotics, Vol. 22, 2008, pp. 1559–1584.