@conference {BM92-ICRA,
	title = {Mobility and Kinematic Analysis of General Cooperating Robotic Systems},
	booktitle = {Proc. IEEE Conf. on Robotics and Automation},
	year = {1992},
	pages = {421-426},
	keywords = {Robot Arms, Robot Hands},
	author = {A. Bicchi and C. Melchiorri}
}
