CHAPTER Low_SPRINGER_2026/IDIAP Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra Löw, Tobias Calinon, Sylvain Amato, N. M. Ed. Driggs-Campbell, K. Ed. Ekenna, C. Ed. Morales, M. Ed. O'Kane, J. M. Ed. EXTERNAL https://publications.idiap.ch/attachments/papers/2026/Low_SPRINGER_2026.pdf PUBLIC Algorithmic Foundations of Robotics XVI 2 45-63 2026 Springer Nature