@inproceedings{CASE-2007-VahediS,
	author        = "Mostafa Vahedi and A. Frank van der Stappen",
	booktitle     = "{Proceedings of the Third International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2007.4341745",
	isbn          = "978-1-4244-1154-2",
	pages         = "404--411",
	publisher     = "{IEEE}",
	title         = "{Geometric Properties and Computation of Three-Finger Caging Grasps of Convex Polygons}",
	year          = 2007,
}