Rachel Kolodny Leonidas J. Guibas Michael Levitt Patrice Koehl Inverse Kinematics in Biology: The Protein Loop Closure Problem. 151-163 2005 24 I. J. Robotic Res. 2-3 http://ijr.sagepub.com/cgi/content/abstract/24/2-3/151 db/journals/ijrr/ijrr24.html#KolodnyGLK05