@inproceedings{PaAsKr00,
  author = "D. K. Pai and U. M. Ascher and P. G. Kry",
  title  = "Forward Dynamics Algorithms for Multibody Chains and Contact",
  booktitle = "IEEE International Conference on Robotics and Automation",
  year = "2000",
  pages = "857--863"
}