@inbook{stueckler-softrobotics15, title = {Perception of Deformable Objects and Compliant Manipulation for Service Robots}, author = {Stueckler, J. and Behnke, S.}, chapter = {Soft Robotics: From Theory to Applications}, publisher = {Springer}, year = {2015}, doi = {}, url = {http://ais.uni-bonn.de/papers/Soft_Robotics_2015_Stueckler_Behnke.pdf} }