Qiao Lin, Joel W. Burdick. Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies. I. J. Robotic Res., 19(6):612-625, 2000. [doi]
@article{LinB00,
title = {Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies},
author = {Qiao Lin and Joel W. Burdick},
year = {2000},
url = {http://ijr.sagepub.com/cgi/content/abstract/19/6/612},
researchr = {https://researchr.org/publication/LinB00},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {19},
number = {6},
pages = {612-625},
}