On the generation of smooth three-dimensional rigid body motions. - Milos Zefran; Vijay Kumar 001; Christopher Croke (IEEE Trans. Robotics Autom., 1998)

Metrics and Connections for Rigid-Body Kinematics. - Milos Zefran; Vijay Kumar 001; Christopher Croke (Int. J. Robotics Res., 1999)