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On Contact Models for Assembly Tasks: Experimental Investigation Beyond the Peg-in-Hole Problem on the Example of Force-Torque Maps. IEEE Int. Conf. on Intelligent Robots and Systems. :2313–2118.. 2010.
Enhancements of Force-Torque Map Based Assembly Applied to Parallel Robots. Proc. of IEEE International Conference on Industrial Technology. :469–474.. 2010.