@conference {BP98,
	title = {Manipulability of Cooperating Robots with Passive Joints},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1998},
	pages = {1038-1043},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
