  Based 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.
