Thomas Lens, Katayon Radkhah, Oskar von Stryk. Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity. In 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011, Tallinn, Estonia, June 20-23, 2011. pages 34-41, IEEE, 2011. [doi]
Abstract is missing.