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On dynamic mulit-rigid-body contact problems with coulomb friction, , , и . ??, (1995)Dynamic multi-rigid-body systems with concurrent distributed contacts, и . Submitted to Trans.\ ASME E, Journal of Applied Mechanics, (1995)Planning for Dextrous Manipulation with Sliding Contacts, и . International Journal of Robotics Research, 9 (3): 24--48 (июня 1990)The Mechanics and Planning of Enveloping Grasps. University of Pennsylvania, Philadelphia, Pennsylvania, (1987)