@InProceedings{brockett91synthesis,
  author = 	 {Roger W. Brockett and Ann Stokes},
  title = 	 {On the Synthesis of Compliant Mechanisms},
  booktitle = 	 {Proc. IEEE Conf. on Robotics and Automation},
  pages = 	 {2168-2173},
  year = 	 {1991},
  address = 	 {Sacramento, CA}
}