Joel Stephen Short Aun Neow Poo Chow Yin Lai Pey Yuen Tao Marcelo H. Ang A generalized underactuated robot system inversion method using Hamiltonian formalism. 1415-1420 2015 AIM https://doi.org/10.1109/AIM.2015.7222739 conf/aimech/2015 db/conf/aimech/aim2015.html#ShortPLTA15