@conference {BP94,
	title = {Controllability of whole-arm manipulation},
	booktitle = {Proc. Int. Conf. Decision and Control},
	year = {1994},
	pages = {373-374},
	keywords = {Haptics, Robotics},
	url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=410900},
	author = {A. Bicchi and D Prattichizzo}
}
