@conference {BM00,
	title = {Rolling Contacts and Dextrous Manipulation},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2000},
	month = {May},
	pages = {282-287},
	address = {San Francisco, CA},
	keywords = {Nonholonomic Systems, Nonlinear Control Systems, Robot Hands},
	author = {A. Bicchi and A. Marigo}
}
