Pål Johan From Vincent Duindam Jan Tommy Gravdahl Shankar Sastry 0001 Modeling and motion planning for mechanisms on a non-inertial base. 3320-3326 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152666 conf/icra/2009 db/conf/icra/icra2009.html#FromDGS09