Scott McMillan, David E. Orin. Efficient computation of articulated-body inertias using successive axial screws. IEEE Transactions on Robotics, 11(4):606-611, 1995. [doi]
@article{McMillanO95,
title = {Efficient computation of articulated-body inertias using successive axial screws},
author = {Scott McMillan and David E. Orin},
year = {1995},
doi = {10.1109/70.406935},
url = {http://dx.doi.org/10.1109/70.406935},
researchr = {https://researchr.org/publication/McMillanO95},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {11},
number = {4},
pages = {606-611},
}