@InBook{jue:02c,
  author =	 {B. J\"uttler and M.G. Wagner},
  title = 	 {Handbook of Computer Aided Geometric Design (G. Farin, J. Hoschek and M.-S. Kim, eds.)},
  chapter = 	 {29: Kinematics and Animation},
  publisher = 	 {Elsevier},
  year = 	 {2002},
  address =	 {Amsterdam},
  pages =	 {723--748}
}