Media type: E-Article Title: On the grasping stability and optimality under external perturbations Contributor: Hor, Maw-kae; Wu, Shiaw-Chian imprint: Wiley, 1999 Published in: Journal of Robotic Systems Language: English DOI: 10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k ISSN: 0741-2223; 1097-4563 Keywords: Control and Systems Engineering Origination: Footnote: