Scalable variational integrators for constrained mechanical systems in generalized coordinates
| Title: | Scalable variational integrators for constrained mechanical systems in generalized coordinates |
|---|---|
| Publication Type: | Journal Article |
| Year of Publication: | 2009 |
| Authors: | E. Johnson, and T. D. Murphey |
| Journal Title: | Robotics, IEEE Transactions on |
| Publisher: | IEEE |
| Pages: | 1249-1261 |