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Hofer, Michael, Pottmann, Helmut, Ravani, Bahram (2004): From curve design algorithms to the design of rigid body motions. In The Visual Computer, 20 (5) pp. 279-297. http://dx.doi.org/10.1007/s00371-003-0221-3
Pottmann, Helmut (1991): Locally Controllable Conic Splines with Curvature Continuity. In ACM Transactions on Graphics, 10 (4) pp. 366-377.