@inproceedings{zhang2010efficient,
  title={Efficient kinematic solution to a multi-robot with serial and parallel mechanisms},
  author={Zhang, Houxiang and Salvietti, Gionata and Wang, Wei and Li, Guoyuan and Yu, Junzhi and Zhang, Jianwei},
  booktitle={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={6101--6106},
  year={2010},
  organization={IEEE}
}