@article {Schempf1993,
	title = {{Study of dominant performance characteristics in robot transmissions}},
	journal = {Journal of Mechanical Design},
	volume = {115},
	number = {3},
	year = {1993},
	pages = {472{\textendash}482},
	issn = {1050-0472},
	author = {Schempf, H and Yoerger, D R}
}
