Efficient O(N) computation of the operational space inertia matrix. - Kathryn W. Lilly; David E. Orin (ICRA, 1990)

Efficient dynamic simulation of a single closed chain manipulator. - Kathryn W. Lilly; David E. Orin (ICRA, 1991)

Alternate Formulations for the Manipulator Inertia Matrix. - Kathryn W. Lilly; David E. Orin (Int. J. Robotics Res., 1991)

Efficient O(N) recursive computation of the operational space inertia matrix. - Kathryn W. Lilly; David E. Orin (IEEE Trans. Syst. Man Cybern., 1993)

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

Dynamic simulation and neural network compliance control of an intelligent forging center. - Kathryn W. Lilly; A. S. Melligeri (J. Intell. Robotic Syst., 1996)