@inbook {MB98,
title = {Rolling bodies with regular surfaces: the holonomic case},
booktitle = {Differential geometry and control},
series = {Proceedings of Symposia in Pure Mathematics},
volume = {64},
year = {1999},
pages = {241-256},
publisher = {American Mathematical Society},
organization = {American Mathematical Society},
author = {A. Marigo and A. Bicchi},
editor = {G. Ferreyra and R. Gardner and H. Hermes and H. Sussmann}
}