@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}
}
