@InProceedings{jue:12h,
author = {T. Schulz and B. J\"uttler},
title = {Decomposing Envelopes of Rational Hypersurfaces},
booktitle = {Latest Advances in Robot Kinematics},
year = {2012},
publisher = {Springer},
editor = {J. Lenar\v{c}i\v{c} and M. Husty},
page =  {189-196},
DOI={10.1007/978-94-007-4620-6_24}
}