Gabriele M. T. D'Eleuterio, Christopher J. Damaren. The relationship between recursive multibody dynamics and discrete-time optimal control. IEEE Transactions on Robotics, 7(6):743-749, 1991. [doi]
@article{DEleuterioD91,
title = {The relationship between recursive multibody dynamics and discrete-time optimal control},
author = {Gabriele M. T. D'Eleuterio and Christopher J. Damaren},
year = {1991},
doi = {10.1109/70.105383},
url = {http://dx.doi.org/10.1109/70.105383},
researchr = {https://researchr.org/publication/DEleuterioD91},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {7},
number = {6},
pages = {743-749},
}