Geodesic
A rule based machine learning approach to the nonlinear multifingered robot gripper problem
Control and Cybernetics, Tome 34 (2005) no. 2, pp. 553-573 
Abu-Zitar, R.; Al-Fahed Nuseirat, A.M. A rule based machine learning approach to the nonlinear multifingered robot gripper problem. Control and Cybernetics, Tome 34 (2005) no. 2, pp. 553-573. http://geodesic.mathdoc.fr/item/CC_2005_34_2_a10/
@article{CC_2005_34_2_a10,
     author = {Abu-Zitar, R. and Al-Fahed Nuseirat, A.M.},
     title = {A rule based machine learning approach to the nonlinear multifingered robot gripper problem},
     journal = {Control and Cybernetics},
     pages = {553--573},
     year = {2005},
     volume = {34},
     number = {2},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2005_34_2_a10/}
}
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