Inoue, H., Inaba, M.,
"Hand-eye coordination in rope handling", in Brady, M., Paul, R. (ed.),
Robotics Research. The First International Symposium, Cambridge, Massachusetts, MIT Press, 1984, pp. 163-174.
163 ;;Quote: hand-eye coordination to thread a rope through a ring by a robot
171 ;;Quote: use successive scan line to locate end of a rope
171 ;;Quote: use imaginary guide tube to bring end of rope through ring