A geometrically implicit time-stepping method for multibody systems with intermittent contact

Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, Jeffrey C. Trinkle. A geometrically implicit time-stepping method for multibody systems with intermittent contact. I. J. Robotic Res., 33(3):426-445, 2014. [doi]

Abstract

Abstract is missing.