@article {MCPB00,
	title = {Planning Motions of Polyhedral Parts by Rolling},
	journal = {Algorithmica},
	volume = {26},
	year = {2000},
	pages = {560-576},
	keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems, Robot Hands},
	author = {A. Marigo and M. Ceccarelli and S. Piccinocchi and A. Bicchi}
}
