@article {MB00,
	title = {Rolling Bodies with Regular Surface: Controllability Theory and Applications},
	journal = {IEEE Trans. on Automatic Control},
	volume = {45},
	number = {9},
	year = {2000},
	month = {September},
	pages = {1586-1599},
	keywords = {Nonlinear Control Systems, Robot Hands},
	author = {A. Marigo and A. Bicchi}
}
