Thorsten Schindler, Binh Nguyen, Jeff Trinkle. Understanding the difference between prox and complementarity formulations for simulation of systems with contact. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011. pages 1433-1438, IEEE, 2011. [doi]
Abstract is missing.