Naoto Sugano Atsushi Mitani Naoto Sugano Shinichi Hirai Micro-Parts Feeding by a Saw-tooth Surface. 825-831 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#MitaniSH05 https://doi.org/10.1109/ROBOT.2005.1570219 Shinichi Hirai Atsushi Mitani