2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/218613Based on the notion of dilatation structure arXiv:math/0608536, we give an intrinsic treatment to sub-riemannian geometry, started in the paper arXiv:0706.3644 . Here we prove that regular sub-riemannian manifolds admit dilatation structures. From the existence of normal frames proved by Bellaiche we deduce the rest of the properties of regular sub-riemannian manifolds by using the formalism of dilatation structures.to appear in "Contemporary Geometry and Topology and Related Topics. Cluj-Napoca, August 19-25, 2007"Differential GeometryMetric Geometry53C17, 22E20, 20F65text