@Article{LIS340,<br>title = {Robust Planning for Multi-Stage Forceful Manipulation},<br>author = {Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez},<br>year = {2023},<br>url = {https://journals.sagepub.com/doi/10.1177/02783649231198560},<br>journal = {International Journal of Robotics Research (IJRR)},<br>doi = {10.1177/02783649231198560},<br>}