@article {B94,
	title = {On the Problem of Decomposing Grasp and Manipulation Forces in Multiple Whole-Limb Manipulation},
	journal = {Int. Journal of Robotics and Autonomous Systems},
	volume = {13},
	year = {1994},
	pages = {127-147},
	keywords = {Grasping, Robotics},
	author = {A. Bicchi}
}
