@inbook {Ulrich1991b,
	title = {{Mechanical design methods of improving manipulator performance}},
	booktitle = {Robots in Unstructured Environments: Fith International Conference on Advanced Robotics: {\textquoteright}91 ICAR, June 19-22, 1991, Pisa, Italy},
	year = {1991},
	pages = {515{\textendash}520},
	publisher = {IEEE},
	organization = {IEEE},
	address = {New York},
	isbn = {0-7803-0078-5},
	doi = {10.1109/ICAR.1991.240601},
	url = {http://dx.doi.org/10.1109/ICAR.1991.240601},
	author = {Ulrich, N T and Kumar, V}
}
