Dynamic simulator for humanoids using constraint-based method with static friction

Jean-Rémy Chardonnet, Sylvain Miossec, Abderrahmane Kheddar, Hitoshi Arisumi, Hirohisa Hirukawa, François Pierrot, Kazuhito Yokoi. Dynamic simulator for humanoids using constraint-based method with static friction. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December 2006. pages 1366-1371, IEEE Computer Society, 2006. [doi]