@inproceedings{chardonnet:lirmm-00108228,
  TITLE = {{Dynamic simulator for humanoids using constraint-based method with static friction}},
  AUTHOR = {Chardonnet, Jean-R{\'e}my and Miossec, Sylvain and Kheddar, Abderrahmane and Arisumi, Hitoshi and Hirukawa, Hirohisa and Pierrot, Fran{\c c}ois and Yokoi, Kazuhito},
  URL = {https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108228},
  BOOKTITLE = {{ROBIO'06: International Conference on Robotics and Biomimetics}},
  ADDRESS = {Kunming, China},
  YEAR = {2006},
  MONTH = Dec,
  HAL_ID = {lirmm-00108228},
  HAL_VERSION = {v1},
}