Identification of articulated body inertias and decoupled control of robots in terms of quasi-coordinates.

Krzysztof Kozlowski Identification of articulated body inertias and decoupled control of robots in terms of quasi-coordinates. 317-322 1996 ICRA https://doi.org/10.1109/ROBOT.1996.503796 conf/icra/1996 db/conf/icra/icra1996.html#Kozlowski96