@conference {BBPG97,
	title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1997},
	keywords = {Autonomous Vehicles, Nonlinear Control Systems},
	author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli}
}
