TY - JOUR A1 - Ciocarlie, M. A1 - Allen, P. T1 - A constrained optimization framework for compliant underactuated grasping JO - Mech. Sci. J1 - MS VL - 2 IS - 1 SP - 17 EP - 26 Y1 - 2011/02/08 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/2/17/2011/ L1 - https://ms.copernicus.org/articles/2/17/2011/ms-2-17-2011.pdf DO - 10.5194/ms-2-17-2011 ER -