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C. Rubert, León, B., and Morales, A., “Grasp quality metrics for robot hands benchmarking”, in 2014 IEEE-RAS International Conference on Humanoid Robots, 2014, pp. 761-766.
C. Rubert, Kappler, D., Bohg, J., and Morales, A., “Predicting grasp success in the real world - A study of quality metrics and human assessment”, Robotics and Autonomous Systems, vol. 121, 2019.