@INPROCEEDINGS{7989255,
  author={Liu, Shuo and Hu, Zhe and Zhang, Hao and Kwon, Mingu and Wang, Zhikang and Xu, Yi and Carpin, Stefano},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Grasp quality evaluation and planning for objects with negative curvature}, 
  year={2017},
  volume={},
  number={},
  pages={2223-2229},
  doi={10.1109/ICRA.2017.7989255}}