@article{368221,
      url = {http://digitallibrary.un.org/record/368221},
      title = {A formal model of robots : geometry and kinematics},
      publisher = {UN University :},
      recid = {368221},
      pages = {i, 56 p.},
      address = {Tokyo :. 1993-03},
      year = {1993},
      month = {Mar},
}