Kathryn W. Lilly

Efficient O(N) computation of the operational space inertia matrix

David E. Orin, K. W. Lilly, Kathryn W. Lilly, 1990, Proceedings., IEEE International Conference on Robotics and Automation.

Efficient Dynamic Simulation of Robotic Mechanisms

K. W. Lilly, Kathryn W. Lilly, 1993 .

Alternate Formulations for the Joint Space Inertia Matrix

Kathryn W. Lilly, 1993 .

System Modelling and Notation

Kathryn W. Lilly, 1993 .

Efficient O(N) recursive computation of the operational space inertia matrix

David E. Orin, K. W. Lilly, Kathryn W. Lilly, 1993, IEEE Trans. Syst. Man Cybern..

Efficient Dynamic Simulation of Simple Closed-Chain Mechanisms

Kathryn W. Lilly, 1993 .

Efficient Dynamic Simulation of a Single Closed Chain

Kathryn W. Lilly, 1993 .

Efficient dynamic simulation of a single closed chain manipulator

David E. Orin, K. W. Lilly, Kathryn W. Lilly, 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

Alternate Formulations for the Manipulator Inertia Matrix

David E. Orin, K. W. Lilly, Kathryn W. Lilly, 1991, Int. J. Robotics Res..