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This paper presents a physical model developed to find the directions of forces and moments required to open a plastic bag -which forces will contribute toward opening the knot and which forces will lock it further. The analysis is part of the implementation of a Q(λ)-learning algorithm on a robot system. The learning task is to let a fixed-arm robot observe the position of a plastic bag located on a platform, grasp it, and learn how to shake out its contents in minimum time. The physical modeldoi:10.1109/tase.2009.2013133 fatcat:jxmoeo2fjjbffehd7iotmapx7y