@book {BCP02,
	title = {Control Problems in Robotics},
	volume = {4},
	year = {2002},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg},
	keywords = {Robotics},
	editor = {A. Bicchi and H. Christensen and D Prattichizzo}
}
