The Formulation Stiffness of Forward Dynamics Algorithms and Implications for Robot Simulation. - Benoit P. Cloutier; Dinesh K. Pai; Uri M. Ascher (ICRA, 1995)

Forward Dynamics, Elimination Methods, and Formulation Stiffness in Robot Simulation. - Uri M. Ascher; Dinesh K. Pai; Benoit P. Cloutier (Int. J. Robotics Res., 1997)