@article {BM02,
	title = {Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation},
	journal = {Int. Jour. of Robotics Research},
	volume = {21},
	number = {5-6},
	year = {2002},
	note = {<p>Special Issue on Nonholonomy on Purpose, H. Arai, A. Bicchi, eds.</p>
},
	month = {May-June},
	pages = {427-442},
	keywords = {Robotics},
	author = {A. Bicchi and A. Marigo}
}
