Modeling and control of contact between constrained rigid bodies. Featherstone, R. IEEE Trans. Robot. Autom., 20(1):82–92, 2004.
bibtex   
@Article{SCC.Featherstone2004,
  author    = {Featherstone, R.},
  title     = {Modeling and control of contact between constrained rigid bodies},
  journal   = {IEEE Trans. Robot. Autom.},
  year      = {2004},
  volume    = {20},
  number    = {1},
  pages     = {82--92},
  issn      = {1042-296X},
  owner     = {keith},
  timestamp = {2007.10.26},
}

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