Houxiang Zhang G. Salvietti Wei Wang 0034 Guoyuan Li Junzhi Yu Jianwei Zhang Efficient kinematic solution to a multi-robot with serial and parallel mechanisms. 6101-6106 2010 IROS http://dx.doi.org/10.1109/IROS.2010.5652985 conf/iros/2010 db/conf/iros/iros2010.html#ZhangSWLYZ10