Motion Variables Leading to Efficient Equations of Motion. - Paul C. Mitiguy; Thomas R. Kane (Int. J. Robotics Res., 1996)

A unified method for multi-body systems subject to stick-slip friction and intermittent contact. - Alexander D. Perkins; Muhammad E. Abdallah; Paul C. Mitiguy; Kenneth J. Waldron (IROS, 2008)