@InProceedings{jue:08o,
 author = 	 {M. Rabl and B. J\"uttler and L. Gonzalez-Vega},
 title = 	 {Exact envelope computation for moving surfaces with quadratic support functions},
 booktitle = {Advances in Robot Kinematics: Analysis and Design},
 editor = {Lenarcic and Wenger},
 year = {2008},
 publisher = {Springer},
 pages =  {283 -- 290}, 
}