@article {BMB95,
	title = {On the Mobility and Manipulability of General Multiple Limb Robotic Systems},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {11},
	number = {2},
	year = {1995},
	month = {April},
	pages = {215-228},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and C. Melchiorri and D. Balluchi}
}
@conference {BM93,
	title = {Manipulability Measures of Cooperating Arms},
	booktitle = {Proc. American Control Conference},
	year = {1993},
	keywords = {Haptics, Robotics},
	url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4792867},
	author = {A. Bicchi and C. Melchiorri}
}
@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}
}
