@article{paperid:1084222,
author = {Hossein Nejat Pishkenari and Yousefsani, Seyed Abdolmajid},
title = {A fresh insight into Kane's equations of motion},
journal = {Robotica},
year = {2017},
volume = {35},
number = {3},
month = {March},
issn = {0263-5747},
pages = {498--510},
			numpages = {12},
keywords = {Dynamics; Kane method; Generalized speed; Multi-body system; Nonholonomic
constraint; Impulse Kane formulation},
}