Kathryn W. Lilly, David E. Orin. Efficient O(N) computation of the operational space inertia matrix. In Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, USA, May 13-18, 1990. pages 1014-1019, IEEE, 1990. [doi]
@inproceedings{LillyO90,
title = {Efficient O(N) computation of the operational space inertia matrix},
author = {Kathryn W. Lilly and David E. Orin},
year = {1990},
doi = {10.1109/ROBOT.1990.126125},
url = {https://doi.org/10.1109/ROBOT.1990.126125},
researchr = {https://researchr.org/publication/LillyO90},
cites = {0},
citedby = {0},
pages = {1014-1019},
booktitle = {Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, USA, May 13-18, 1990},
publisher = {IEEE},
}