Kathryn W. Lilly, David E. Orin. Efficient O(N) recursive computation of the operational space inertia matrix. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 23(5):1384-1391, 1993. [doi]
@article{LillyO93,
title = {Efficient O(N) recursive computation of the operational space inertia matrix},
author = {Kathryn W. Lilly and David E. Orin},
year = {1993},
doi = {10.1109/21.260669},
url = {http://dx.doi.org/10.1109/21.260669},
researchr = {https://researchr.org/publication/LillyO93},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part A},
volume = {23},
number = {5},
pages = {1384-1391},
}