@article{BSMA_1879_2_3_1_151_1,
     author = {Darboux, G.},
     title = {Recherches sur un syst\`eme articul\'e},
     journal = {Bulletin des Sciences Math\'ematiques et Astronomiques},
     pages = {151--192},
     publisher = {Gauthier-Villars},
     volume = {2e s{\'e}rie, 3},
     number = {1},
     year = {1879},
     language = {fr},
     url = {http://archive.numdam.org/item/BSMA_1879_2_3_1_151_1/}
}