Fan-Tien Cheng, David E. Orin. Efficient algorithm for optimal force distribution-the compact-dual LP method. IEEE Transactions on Robotics, 6(2):178-187, 1990. [doi]
@article{ChengO90,
title = {Efficient algorithm for optimal force distribution-the compact-dual LP method},
author = {Fan-Tien Cheng and David E. Orin},
year = {1990},
doi = {10.1109/70.54733},
url = {http://dx.doi.org/10.1109/70.54733},
researchr = {https://researchr.org/publication/ChengO90},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {6},
number = {2},
pages = {178-187},
}