@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"

}