Roberto Lampariello Satoko Abiko Gerd Hirzinger Dynamics modeling of structure-varying kinematic chains for free-flying robots. 1207-1212 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543368 conf/icra/2008 db/conf/icra/icra2008.html#LamparielloAH08