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N. T. Ulrich and Kumar, V., Design methods of improving robot manipulator performance, in Advances in Design Automation, 1991, vol. 2, G. A. Gabriele, Ed. New York: American Society of Mechanical Engineers, 1991, pp. 545–550.
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N. T. Ulrich, Kumar, V., Paul, R., and Bajcsy, R., Grasping with mechanical intelligence, in RoManSy 8: Proceedings of the Eight[h] CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, A. Morecki, Ed. Warsaw, Poland: Warsaw University of Technology Pubs., 1990.
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N. T. Ulrich and Kumar, V., Mechanical design methods of improving manipulator performance, in Robots in Unstructured Environments: Fith International Conference on Advanced Robotics: '91 ICAR, June 19-22, 1991, Pisa, Italy, New York: IEEE, 1991, pp. 515–520.