@inproceedings{ito_mizukoshi_ishihara_sasaki_2006, 
  title={Optimal Direction of Grasped Object Minimizing Contact Forces}, 
  DOI={10.1109/iros.2006.282047}, 
  publisher={IEEE}, 
  author={Ito and Mizukoshi and Ishihara and Sasaki}, 
  year={2006}
  }