An Orthogonal Collocation Method for Static and Dynamic Cosserat Rods. - Radhouane Jilani; Pierre-Frédéric Villard; Erwan Kerrien (IROS, 2023)

Solving Dynamic Cosserat Rods with Frictional Contact Using the Shooting Method and Implicit Surfaces. - Radhouane Jilani; Pierre-Frédéric Villard; Erwan Kerrien (IROS, 2024)

Quasi-Static Cosserat Rods in Contact With Implicit Surfaces. - Radhouane Jilani; Pierre-Frédéric Villard; Erwan Kerrien (IEEE Robotics Autom. Lett., 2025)