| Title | On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates |
| Publication Type | Journal Article |
| Year of Publication | 2014 |
| Authors | Uchida, T., A. Callejo, G. J de Jalon, and J. McPhee |
| Journal | Multibody System Dynamics |
| Volume | 31 |
| Pagination | 371-392 |
