@misc{indiciae81650b0a5ac9,
  title = {Efficient dynamic simulation for multiple chain robotic mechanisms},
  author = {Lilly, Kathryn W. and Orin, David E.},
  year = {1989},
  url = {https://ntrs.nasa.gov/citations/19900013679},
  note = {Source identifier: 19900013679}
}