# 6DLS: Modeling Nonplanar Frictional Surface Contacts for Grasping Using 6-D Limit Surfaces

> Research article (IEEE Transactions on Robotics, 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3160063234](https://www.wikidata.org/wiki/openalex:W3160063234)  
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