Younan Xu Xin-Jun Liu Jinsong Wang Analytical Forward Kinematics for Two Kinds of Typical Tripods Part I: Closed-Form Solutions for Forward Kinematics Methods. 271-281 2012 ICIRA (1) https://doi.org/10.1007/978-3-642-33509-9_26 conf/icira/2012-1 db/conf/icira/icira2012-1.html#XuLW12