@conference {deshpande2007methodology,
	title = {A methodology for kinematics and dynamics analysis of robotic systems internal actuation},
	booktitle = {ASME 2007 International Mechanical Engineering Congress and Exposition},
	year = {2007},
	pages = {1361{\textendash}1367},
	publisher = {American Society of Mechanical Engineers},
	organization = {American Society of Mechanical Engineers},
	author = {Deshpande, Ashish D. and Luntz, Jonathan E.}
}
