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  1. A. Bicchi, D. Prattichizzo. Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms. IEEE Trans. on Robotics and Automation, 16(4):336-345, August 2000. details pdf
  2. D. Prattichizzo, A. Bicchi. Dynamic analysis of mobility and graspability of general manipulation systems. IEEE Trans. on Robotics and Automation, 14(2):241-258, April 1998. details pdf

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