@inbook {Ulrich1991,
	title = {{Design methods of improving robot manipulator performance}},
	booktitle = {Advances in Design Automation, 1991},
	series = {DE (American Society of Mechanical Engineers. Design Engineering Division)},
	volume = {2},
	number = {32},
	year = {1991},
	pages = {545{\textendash}550},
	publisher = {American Society of Mechanical Engineers},
	organization = {American Society of Mechanical Engineers},
	address = {New York},
	isbn = {0-79180-748-4},
	author = {Ulrich, N T and Kumar, V},
	editor = {Gabriele, G A}
}
@inbook {Ulrich1991b,
	title = {{Mechanical design methods of improving manipulator performance}},
	booktitle = {Robots in Unstructured Environments: Fith International Conference on Advanced Robotics: {\textquoteright}91 ICAR, June 19-22, 1991, Pisa, Italy},
	year = {1991},
	pages = {515{\textendash}520},
	publisher = {IEEE},
	organization = {IEEE},
	address = {New York},
	isbn = {0-7803-0078-5},
	doi = {10.1109/ICAR.1991.240601},
	url = {http://dx.doi.org/10.1109/ICAR.1991.240601},
	author = {Ulrich, N T and Kumar, V}
}
@inbook {Ulrich1990,
	title = {{Grasping with mechanical intelligence}},
	booktitle = {RoManSy 8: Proceedings of the Eight[h] CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators},
	year = {1990},
	publisher = {Warsaw University of Technology Pubs.},
	organization = {Warsaw University of Technology Pubs.},
	address = {Warsaw, Poland},
	author = {Ulrich, N T and Kumar, V and Paul, R and Bajcsy, R},
	editor = {Morecki, A}
}
