@article {BP00,
	title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {16},
	number = {4},
	year = {2000},
	month = {August},
	pages = {336-345},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@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}
}
