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Implicit Time-Integration Simulation of Robots With Rigid Bodies and Cosserat Rods Based on a Newton-Euler Recursive Algorithm

Frédéric Boyer, Andrea Gotelli, Philipp Tempel, Vincent Lebastard, Federico Renda, Sébastien Briot. Implicit Time-Integration Simulation of Robots With Rigid Bodies and Cosserat Rods Based on a Newton-Euler Recursive Algorithm. IEEE Transactions on Robotics, 40:677-696, 2024. [doi]

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