Patrick M. Wensing, Roy Featherstone, David E. Orin. A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. In IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA. pages 4911-4917, IEEE, 2012. [doi]
Abstract is missing.