An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction

David E. Stewart, Jeffrey C. Trinkle. An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction. In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA. pages 162-169, IEEE, 2000.

Abstract

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