@inbook {BMP99-CPRA,
	title = {Robotic Dexterity via Nonholonomy},
	booktitle = {Control Problems in Robotics and Automation},
	series = {LNCIS 230},
	year = {1997},
	pages = {35-49},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi and A. Marigo and D Prattichizzo},
	editor = {B. Siciliano and K. Valavanis}
}
@inbook {CMPB96,
	title = {Reachability of Rolling Parts},
	booktitle = {Advances in Robotics: The ERNET Perspective},
	year = {1996},
	pages = {51-60},
	publisher = {World Scientific Publisher Corp.},
	organization = {World Scientific Publisher Corp.},
	address = {Singapore},
	keywords = {Haptics, Robotics},
	author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi},
	editor = {C. Bonivento and C. Melchiorri and H. Tolle}
}
