Efficient parallel formulation for dynamics simulation of large articulated robotic systems. - Krzysztof Chadaj; Pawel Malczyk; Janusz Fraczek (MMAR, 2015)

A Parallel Recursive Hamiltonian Algorithm for Forward Dynamics of Serial Kinematic Chains. - Krzysztof Chadaj; Pawel Malczyk; Janusz Fraczek (IEEE Trans. Robotics, 2017)