O (logn) algorithm for forward kinematics under asynchronous sensory input. - Ryo Wakatabe; Yasuo Kuniyoshi; Gordon Cheng (ICRA, 2017)

Efficient Event-Driven Forward Kinematics of Open Kinematic Chains with O(Log n) Complexity. - Ryo Wakatabe; Kohei Morita; Gordon Cheng; Yasuo Kuniyoshi (ICRA, 2018)