Re-usable kinematic models and algorithms for manipulators and vehicles.

Hari Das Nayar Issa A. D. Nesnas Re-usable kinematic models and algorithms for manipulators and vehicles. 833-838 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399047 conf/iros/2007 db/conf/iros/iros2007.html#NayarN07