@misc{indiciaeea185835eaff,
  title = {A generalized framework for interactive dynamic simulation for MultiRigid bodies.},
  author = {Wookho Son and Kyunghwan Kim and Nancy M Amato and Jeffrey C Trinkle},
  year = {2004},
  doi = {10.1109/tsmcb.2003.818434},
  url = {https://pubmed.ncbi.nlm.nih.gov/15376839/},
  note = {Source identifier: 15376839}
}