@article{Liu:2010:SCM:1833351.1778865,
 author = {Liu, Libin and Yin, KangKang and van de Panne, Michiel and Shao, Tianjia and Xu, Weiwei},
 title = {Sampling-based contact-rich motion control},
 journal = {ACM Trans. Graph.},
 volume = {29},
 issue = {4},
 month = {July},
 year = {2010},
 issn = {0730-0301},
 pages = {128:1--128:10},
 articleno = {128},
 numpages = {10},
 url = {http://doi.acm.org/10.1145/1778765.1778865},
 doi = {http://doi.acm.org/10.1145/1778765.1778865},
 acmid = {1778865},
 publisher = {ACM},
 address = {New York, NY, USA},
} 

@inproceedings{Liu:2010:SCM:1833349.1778865,
 author = {Liu, Libin and Yin, KangKang and van de Panne, Michiel and Shao, Tianjia and Xu, Weiwei},
 title = {Sampling-based contact-rich motion control},
 booktitle = {ACM SIGGRAPH 2010 papers},
 series = {SIGGRAPH '10},
 year = {2010},
 isbn = {978-1-4503-0210-4},
 location = {Los Angeles, California},
 pages = {128:1--128:10},
 articleno = {128},
 numpages = {10},
 url = {http://doi.acm.org/10.1145/1833349.1778865},
 doi = {10.1145/1833349.1778865},
 acmid = {1778865},
 publisher = {ACM},
 address = {New York, NY, USA},
}