A new approach for modeling and computation of dynamics of robots containing closed chains. - Xiang-Rong Xu; Won-Jee Chung; Young-Hyu Choi; Xiang-Feng Ma (IROS, 1998)

A new dynamic formulation for robot manipulators containing closed kinematic chains. - Xiang-Rong Xu; Won-Jee Chung; Young-Hyu Choi; Xiang-Feng Ma (Robotica, 1999)