@conference {PB02,
	title = {Grasp Control: a General Manipulation System Approach},
	booktitle = {Proc. Int. Works. Towards Intelligent Robotic Manipulation},
	year = {2002},
	month = {September},
	publisher = {IEEE/RSJ IROS},
	organization = {IEEE/RSJ IROS},
	address = {Lausanne},
	keywords = {Haptics, Robotics},
	author = {D Prattichizzo and A. Bicchi},
	editor = {C. Melchiorri and P. J. Sanz and R. Molfino}
}
@conference {BPM97,
	title = {Force and Dynamic Manipulability for Cooperating Robot Systems},
	booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {1997},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo and C. Melchiorri}
}
@inbook {BP97,
	title = {On some structural properties of general manipulation systems},
	booktitle = {Modelling and Control of Mechanichal Systems},
	year = {1997},
	pages = {187-202},
	publisher = {Imperial College Press},
	organization = {Imperial College Press},
	address = {London, U.K.},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi and D Prattichizzo},
	editor = {A. Astolfi and D. J. N. Limebeer and C. Melchiorri and A. Tornamb\&egrave;e and R.B. Vinter}
}
@inbook {CMPB96,
	title = {Reachability of Rolling Parts},
	booktitle = {Advances in Robotics: The ERNET Perspective},
	year = {1996},
	pages = {51-60},
	publisher = {World Scientific Publisher Corp.},
	organization = {World Scientific Publisher Corp.},
	address = {Singapore},
	keywords = {Haptics, Robotics},
	author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi},
	editor = {C. Bonivento and C. Melchiorri and H. Tolle}
}
@conference {BM93,
	title = {Manipulability Measures of Cooperating Arms},
	booktitle = {Proc. American Control Conference},
	year = {1993},
	keywords = {Haptics, Robotics},
	url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4792867},
	author = {A. Bicchi and C. Melchiorri}
}
