A systolic architecture for computation of the manipulator inertia matrix. - Masoud Amin-Javaheri; David E. Orin (ICRA, 1987)

Systolic architectures for the manipulator inertia matrix. - Masoud Amin-Javaheri; David E. Orin (IEEE Trans. Syst. Man Cybern., 1988)

Parallel Algorithms for Computation of the Manipulator Inertia Matrix. - Masoud Amin-Javaheri; David E. Orin (Int. J. Robotics Res., 1991)

Non-Strict Computation of the manipulator inertia Matrix. - Masoud Amin-Javaheri; David E. Orin (Parallel Computation Systems for Robotics, 1992)