Dynamic simulator for humanoids using constraint-based method with static friction. Chardonnet, J., Miossec, S., Kheddar, A., Arisumi, H., Hirukawa, H., Pierrot, F., & Yokoi, K. In ROBIO'06: International Conference on Robotics and Biomimetics, pages 1366–1371, Kunming, China, December, 2006.
Dynamic simulator for humanoids using constraint-based method with static friction [link]Paper  doi  bibtex   
@inproceedings{chardonnet_dynamic_2006,
	address = {Kunming, China},
	title = {Dynamic simulator for humanoids using constraint-based method with static friction},
	url = {http://hal-lirmm.ccsd.cnrs.fr/lirmm-00108228},
	doi = {10.1109/ROBIO.2006.340128},
	booktitle = {{ROBIO}'06: {International} {Conference} on {Robotics} and {Biomimetics}},
	author = {Chardonnet, J.-R. and Miossec, S. and Kheddar, A. and Arisumi, H. and Hirukawa, H. and Pierrot, F. and Yokoi, K.},
	month = dec,
	year = {2006},
	pages = {1366--1371},
}
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