D. Ruspini and O. Khatib. Collision/Contact Models for the Dynamic Simulation of Complex Environments. IEEE/RSJ IROS'97, September 1997. Home/Search Document Details and Download
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Gauss' Least Constraints Principle and Rigid Body Simulations - St Ephane Redon (2002) (Correct)
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D. Ruspini and O. Khatib. Collision/Contact Models for the Dynamic Simulation of Complex Environments. IEEE/RSJ IROS'97, September 1997.
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