@inbook {BK01, title = {Robotic Grasping and Manipulation}, booktitle = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, pages = {55-74}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {4}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} }