@article{DBLP:journals/tsmc/HungOW00,
  author    = {Min-Hsiung Hung and
               David E. Orin and
               Kenneth J. Waldron},
  title     = {Efficient formulation of the force distribution equations
               for general tree-structured robotic mechanisms with a mobile
               base},
  journal   = {IEEE Transactions on Systems, Man, and Cybernetics, Part
               B},
  volume    = {30},
  number    = {4},
  year      = {2000},
  pages     = {529-538},
  ee        = {http://dx.doi.org/10.1109/3477.865170},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}