Kathryn W. Jablokow, Clifford S. Bonaventura. Alternate forms of the operational space inertia matrix for the dynamic simulation of complex robot systems. In Proceedings of the IEEE International Conference on Systems, Man & Cybernetics: Washington, D.C., USA, 5-8 October 2003. pages 2225-2230, IEEE, 2003. [doi]
Abstract is missing.