Roy Featherstone, Stef Sonck, Oussama Khatib. A General Contact Model for Dynamically-Decoupled Force/Motion. In Alicia Casals, Anibal T. de Almeida, editors, Experimental Robotics V, The Fifth International Symposium, Barelona, Catalonia, June 15-18, 1997. Volume 232 of Lecture Notes in Control and Information Sciences, pages 128-139, Springer, 1997.
Abstract is missing.