  A bicovariant calculus on the twisted inhomogeneous multiparametric
$q$-groups of the $B_n,C_n,D_n$ type, and on the corresponding quantum planes,
is found by means of a projection from the bicovariant calculus on $B_{n+1}$,
$C_{n+1}$, $D_{n+1}$. In particular we obtain the bicovariant calculus on a
dilatation-free $q$-Poincar\'e group $ISO_q (3,1)$, and on the corresponding
quantum Minkowski space. The classical limit of the $B_n,C_n,D_n$ bicovariant
calculus is discussed in detail.
