@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} }