A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm

@article{Featherstone1999ATF,
  title={A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm},
  author={Roy Featherstone and Amir Fijany},
  journal={IEEE Trans. Robotics and Automation},
  year={1999},
  volume={15},
  pages={1140-1144}
}

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