Morio Yoshida Suguru Arimoto Ji-Hun Bae Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips. 4707-4714 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.364204 db/conf/icra/icra2007.html#YoshidaAB07