Ruggiero, Fabio, Kim, Jung-Tae, Gutierrez-Giles, Alejandro, Satici, Aykut C., Donaire, Alejandro, Cacace, Jonathan, Buonocore, Luca Rosario, Fontanelli, Giuseppe Andrea, Lippiello, Vincenzo, Siciliano, Bruno. Springer; 2020. Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project.