@CONFERENCE{j.a.escaleraasymbolicgeometric, TITLE = {A symbolic geometric formulation of branched articulated multibody systems based on graphs and lie groups}, BOOKTITLE = {}, CONGRESS = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Monday, 4 November, 2016, Daejeon, Corea}, DATE = {2016-10-09 00:00:00}, CITY = {Daejeon}, COUNTRY = {South Korea}, ISBN = {}, PUBLISHER = {}, PAGES = { - }, YEAR = {}, AUTHOR = {J.A. Escalera, F. J. Abu-Dakka, M. Abderrahim} }