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@book{featherstone2014rigid,
title={Rigid body dynamics algorithms},
author={Featherstone, Roy},
year={2008},
publisher={Springer},
doi = {10.1007/978-1-4899-7560-7}
}
@article{sohl2001recursive,
title={A recursive multibody dynamics and sensitivity algorithm for branched kinematic chains},
author={Sohl, Garett A and Bobrow, James E},
journal={TRANSACTIONS-AMERICAN SOCIETY OF MECHANICAL ENGINEERS JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL},
volume={123},
number={3},
pages={391--399},
year={2001},
publisher={AMERICAN SOCIETY MECHANICAL ENGINEERS},
doi = {10.1115/1.1376121}
}
@article{ploen1999coordinate,
title={Coordinate-invariant algorithms for robot dynamics},
author={Ploen, Scott R and Park, Frank C},
journal={IEEE Transactions on Robotics and Automation},
volume={15},
number={6},
pages={1130--1135},
year={1999},
publisher={IEEE},
doi = {10.1109/70.817677}
}
@article{stewart1996implicit,
title={An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction},
author={Stewart, David E and Trinkle, Jeffrey C},
journal={International Journal for Numerical Methods in Engineering},
volume={39},
number={15},
pages={2673--2691},
year={1996},
publisher={Wiley Online Library},
doi = {10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I}
}
@article{park1995lie,
title={A Lie group formulation of robot dynamics},
author={Park, Frank C and Bobrow, James E and Ploen, Scott R},
journal={The International Journal of Robotics Research},
volume={14},
number={6},
pages={609--618},
year={1995},
publisher={Sage Publications Sage CA: Thousand Oaks, CA},
doi = {10.1177/027836499501400606}
}