YamaneN09'

@article{DBLP:journals/ijrr/YamaneN09,
  author    = {Katsu Yamane and
               Yoshihiko Nakamura},
  title     = {Comparative Study on Serial and Parallel Forward Dynamics
               Algorithms for Kinematic Chains},
  journal   = {I. J. Robotic Res.},
  volume    = {28},
  number    = {5},
  year      = {2009},
  pages     = {622-629},
  ee        = {http://dx.doi.org/10.1177/0278364909102350},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}