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. Author manuscript; available in PMC: 2012 Feb 20.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011:1139–1146. doi: 10.1109/ICRA.2011.5980347

Fig. 5.

Fig. 5

Distributed normal, tangent, and total forces on a cross section for two values of friction coefficient. Total force direction and magnitude is preserved.