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EFAC Computer Controlled Three Dimensions (3D) Physics System
Solving Statics Problems with Software Brain Waves
Linking running motion to ground force: the concise physics of running
Modern Robotics, Chapter 3.3.2: Twists (Part 1 of 2)
Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
Modern Robotics, Chapter 2.4: Configuration and Velocity Constraints
Modern Robotics, Chapter 12.2.1: Friction
Force method explained