Michael Erdmann. Multiple-point contact with friction: Computing forces and motions in configuration space. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 163-170, IEEE, 1993. [doi]
@inproceedings{Erdmann93-0, title = {Multiple-point contact with friction: Computing forces and motions in configuration space}, author = {Michael Erdmann}, year = {1993}, doi = {10.1109/IROS.1993.583094}, url = {http://dx.doi.org/10.1109/IROS.1993.583094}, researchr = {https://researchr.org/publication/Erdmann93-0}, cites = {0}, citedby = {0}, pages = {163-170}, booktitle = {Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993}, publisher = {IEEE}, isbn = {0-7803-0823-9}, }