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An outline for an intelligent system performing peg-in-hole..:

, In: Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II,
Jordt, Andreas ; Fugl, Andreas R. ; Bodenhagen, Leon... - p. 430-441 , 2011
Link: https://dl.acm.org/doi/10.1007/978-3-642-25489-5_42