Mason, Matthew T. Goldberg, Kenneth Y. H. Taylor, Russell Planning sequences of squeeze-grasps to orient and grasp polygonal objects Computer Science Department Robotics. 1989-01-01
    https://kilthub.cmu.edu/articles/journal_contribution/Planning_sequences_of_squeeze-grasps_to_orient_and_grasp_polygonal_objects/6608447
10.1184/R1/6608447.v1