Fast and reasonable contact force computation in forward dynamics based on momentum-level penetration compensation. - Naoki Wakisaka; Tomomichi Sugihara (IROS, 2014)

Fast forward dynamics simulation of robot manipulators with highly frictional gears. - Naoki Wakisaka; Ryo Kikuuwe; Tomomichi Sugihara (ICRA, 2016)

Loosely-constrained volumetric contact force computation for rigid body simulation. - Naoki Wakisaka; Tomomichi Sugihara (IROS, 2017)

Simulator for Disaster Response Robotics. - Fumio Kanehiro; Shinichiro Nakaoka; Tomomichi Sugihara; Naoki Wakisaka; Genya Ishigami; Shingo Ozaki; Satoshi Tadokoro (Disaster Robotics, 2019)