@InProceedings{brockett93geometrical,
  author = 	 {Roger W. Brockett and Ann Stokes and Frank Park},
  title = 	 {A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains},
  booktitle = 	 {Proc. IEEE Conf. on Robotics and Automation},
  pages = 	 {637--641},
  year = 	 {1993},
  address = 	 {Atlanta, GA}
}