@inproceedings{SchneiderBruyninckx2020, author = {Sven Schneider and Herman Bruyninckx}, title = {Exploiting linearity in dynamics solvers for the design of composable robotic manipulation architectures}, series = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3-8 Nov. 2019, Macau, China}, publisher = {IEEE}, isbn = {978-1-7281-4004-9}, doi = {10.1109/IROS40897.2019.8968500}, pages = {7439 -- 7446}, year = {2020}, language = {en} }