@article{song2018fingertip,
  title={Fingertip surface optimization for robust grasping on contact primitives},
  author={Song, Haoran and Wang, Michael Yu and Hang, Kaiyu},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={2},
  pages={742--749},
  year={2018},
  publisher={IEEE}
}