A Generalized Formulation for Simulation of Space Robot Constrained Motion. - Kathryn W. Lilly; Clifford S. Bonaventura (ICRA, 1995)

An O(N) modular algorithm for the dynamic simulation of robots constrained by a single contact. - Clifford S. Bonaventura; Kathryn W. Jablokow (IEEE Trans. Syst. Man Cybern. Part C, 2002)

Alternate forms of the operational space inertia matrix for the dynamic simulation of complex robot systems. - Kathryn W. Jablokow; Clifford S. Bonaventura (SMC, 2003)

A Modular Dynamic Simulation Algorithm for Complex Robot Systems. - Clifford S. Bonaventura; Kathryn W. Jablokow (ICRA, 2004)

A modular approach to the dynamics of complex multirobot systems. - Clifford S. Bonaventura; Kathryn W. Jablokow (IEEE Trans. Robotics, 2005)

A Modular Algorithm for the Dynamics of Multiple Flexible robots. - Clifford S. Bonaventura; Kathryn W. Jablokow; Keith W. Buffinton (Int. J. Robotics Autom., 2007)