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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]
Possibly Related PublicationsThe following publications are possibly variants of this publication: Efficient O(N) computation of the operational space inertia matrixKathryn W. Lilly, David E. Orin. icra 1990: 1014-1019 [doi] A reduced-order recursive algorithm for the computation of the operational-space inertia matrixPatrick M. Wensing, Roy Featherstone, David E. Orin. icra 2012: 4911-4917 [doi]
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