@inbook {MB98,
	title = {Rolling bodies with regular surfaces: the holonomic case},
	booktitle = {Differential geometry and control},
	series = {Proceedings of Symposia in Pure Mathematics},
	volume = {64},
	year = {1999},
	pages = {241-256},
	publisher = {American Mathematical Society},
	organization = {American Mathematical Society},
	author = {A. Marigo and A. Bicchi},
	editor = {G. Ferreyra and R. Gardner and H. Hermes and H. Sussmann}
}
