%0 Book Section %B Control Problems in Robotics and Automation %D 1997 %T Robotic Dexterity via Nonholonomy %A A. Bicchi %A A. Marigo %A D Prattichizzo %E B. Siciliano %E K. Valavanis %K Haptics %K Robotics %B Control Problems in Robotics and Automation %S LNCIS 230 %I Springer Verlag %C Berlin Heidelberg, Germany %P 35-49 %G eng