@article{Jamisola2016jirs,
  author="Jamisola, Rodrigo S. and Kormushev, Petar and Roberts, Rodney G. and Caldwell, Darwin G.",
  title="Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian",
  journal="Journal of Intelligent \& Robotic Systems",
  year="2016",
  pages="1--14",
  issn="1573-0409",
  doi="10.1007/s10846-016-0361-0",
  url = "https://kormushev.com/papers/Jamisola_JIRS-2016.pdf"
}