@incollection{Aristidou:2011:GA,
 author 	= {Aristidou, Andreas and Lasenby, Joan},
 title 	 	= {Inverse Kinematics Solutions Using Conformal Geometric Algebra},
 booktitle 	= {Guide to Geometric Algebra in Practice},
 editor 	= {Dorst, Leo and Lasenby, Joan},
 publisher 	= {Springer London},
 isbn	 	= {978-0-85729-811-9},
 pages	 	= {47-62},
 doi		= {DOI: 10.1007/978-0-85729-811-9_3},
 year		= {2011}
}