Yin Pok Chan Ghasem Abbasnejad Jonathan Eden Darwin Lau Improved Computational Speed of System Dynamics for Cable-Driven Robots Through Generalised Model Compilation. 230-235 2018 RCAR https://doi.org/10.1109/RCAR.2018.8621675 conf/rcar/2018 db/conf/rcar/rcar2018.html#ChanAEL18