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Interactive manipulation of rigid body simulations., , , , and . SIGGRAPH, page 209-217. ACM, (2000)Multiple impacts: A state transition diagram approach., , and . Int. J. Robotics Res., 32 (1): 84-114 (2013)Editorial: Special Issue on Tactile Presence., and . Int. J. Robotics Res., 19 (7): 635 (2000)Protein Similarity from Knot Theory: Geometric Convolution and Line Weavings.. J. Comput. Biol., 12 (6): 609-637 (2005)Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system., , and . ICRA, page 3391-3396. IEEE, (2003)Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors., and . WAFR, volume 7 of Springer Tracts in Advanced Robotics, page 293-310. Springer, (2002)Generating stochastic plans for a programmable parts feeder., , and . ICRA, page 352-359. IEEE Computer Society, (1991)Stably supported rotations of a planar polygon with two frictionless contacts., and . IROS (3), page 411-418. IEEE Computer Society, (1995)A Mobile Manipulator., , , , and . ICRA, page 2322-2327. IEEE Robotics and Automation Society, (1999)On the Topology of Discrete Strategies.. Int. J. Robotics Res., 29 (7): 855-896 (2010)