@inproceedings{SchneiderHochgeschwenderKraetzschmar2014,
  author    = {Sven Schneider and Nico Hochgeschwender and Gerhard K. Kraetzschmar},
  title     = {Declarative specification of task-based grasping with constraint validation},
  series = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, 14-18 Sept. 2014},
  publisher = {IEEE},
  isbn      = {978-1-4799-6934-0},
  doi       = {10.1109/IROS.2014.6942669},
  pages     = {919 -- 926},
  year      = {2014},
  language  = {en}
}