@article{1992283, title={An Assembly Planning for Robots Based on Constraint State Transition Difficulty}, author={Tsuneo YOSHIKAWA and Yasuyoshi YOKOKOHJI and Yong Yu}, journal={Transactions of the Institute of Systems, Control and Information Engineers}, volume={5}, number={7}, pages={283-293}, year={1992}, doi={10.5687/iscie.5.283} }