TY - CHAP U1 - Konferenzveröffentlichung A1 - Schneider, Sven A1 - Bruyninckx, Herman T1 - Exploiting linearity in dynamics solvers for the design of composable robotic manipulation architectures T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3-8 Nov. 2019, Macau, China SN - 978-1-7281-4004-9 SB - 978-1-7281-4004-9 U6 - https://doi.org/10.1109/IROS40897.2019.8968500 DO - https://doi.org/10.1109/IROS40897.2019.8968500 N1 - This work was supported by the European Union’s Horizon 2020 projects ROPOD (grant agreement No 731848) and RobMoSys (grant agreement No 732410). SP - 7439 EP - 7446 PB - IEEE ER -