@inbook {CMPB97,
	title = {Rolling Polyhedra on a Plane: Analysis of the Reachable Set},
	booktitle = {Algorithms for Robotic Motion and Manipulation},
	year = {1997},
	pages = {277-286},
	publisher = {A. K. Peters},
	organization = {A. K. Peters},
	address = {Wellesley, MA, U.S.A.},
	keywords = {Embedded Control, Robotics},
	author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi},
	editor = {J.P. Laumond and M. Overmars}
}
