@techreport{Brogliato.ea.2004,
  author	= {Brogliato, B. and Mabrouk, M. and Rio, A. Zavala},
  title		= {On the controllability of linear juggling mechanical systems},
  institution	= {INRIA},
  year		= {2004},
  number	= {RR-4772},
  address	= {http_//www.inria.fr/rrrt/},
}