@article{chardonnet:hal-00771985,
  TITLE = {{Interactive Dynamic Simulator for Multibody Systems}},
  AUTHOR = {Chardonnet, Jean-R{\'e}my},
  URL = {https://hal.science/hal-00771985},
  JOURNAL = {{International Journal of Humanoid Robotics}},
  PUBLISHER = {{World Scientific Publishing}},
  PAGES = {1250021-1, 1250021-24},
  YEAR = {2012},
  MONTH = Jul,
  DOI = {10.1142/S0219843612500211},
  KEYWORDS = {Dynamic simulation ; contact with friction ; humanoid robot ; haptic interaction ; manipulation ; framework},
  PDF = {https://hal.science/hal-00771985v1/file/chardonnet-ps.pdf},
  HAL_ID = {hal-00771985},
  HAL_VERSION = {v1},
}