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This work was supported by National Natural Science Foundation of China (Grant No. 51575302), Beijing Natural Science Foundation (Grant No. J170005), and National Key R&D Program of China (Grant No. 2017YFE0113200).
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Mo, A., Zhang, W. A universal robot gripper based on concentric arrays of rotating pins. Sci. China Inf. Sci. 62, 50214 (2019). https://doi.org/10.1007/s11432-018-9716-2