Part Orientation with One or Two Stable Equilibria Using Programmable Vector Fields

K.-F. Bohringer, B. R. Donald, L. E. Kavraki, and F. Lamiraux, “Part Orientation with One or Two Stable Equilibria Using Programmable Vector Fields,” IEEE Transactions on Robotics and Automation, vol. 16, no. 2, pp. 157–170, 2000.