@inproceedings{Colome_wiros12,
  author = {Colom{\'e}, A. and Pardo, D. and Aleny{\`a}, G. and Torras, C.},
  title = {External force estimation for textile grasp detection},
  booktitle = {IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation},
  year = {2012},
  location = {Vilamoura, Portugal},
  url = {http://www.iri.upc.edu/publications/show/1380},
  file = {http://www.iri.upc.edu/download/scidoc/1380}
}