TY - CHAP T1 - Rolling bodies with regular surfaces: the holonomic case T2 - Differential geometry and control Y1 - 1999 A1 - A. Marigo A1 - A. Bicchi ED - G. Ferreyra ED - R. Gardner ED - H. Hermes ED - H. Sussmann JF - Differential geometry and control T3 - Proceedings of Symposia in Pure Mathematics PB - American Mathematical Society VL - 64 ER -