V. Acary and B. Brogliato, Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, LNACM, vol.35, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00423530

V. Acary, F. Cadoux, C. Lemaréchal, and J. Malick, A formulation of the linear discrete Coulomb friction problem via convex optimization, Zeitschrift für Angewandte Mathematik und Mechanik 91, pp.155-175, 2011.
DOI : 10.1002/(SICI)1099-1484(200005)5:4<305::AID-CFM96>3.0.CO;2-W
URL : https://hal.archives-ouvertes.fr/inria-00495734

A. M. Al-fahed, G. E. Stavroulakis, and P. D. Panagiotopulos, Hard and Soft Fingered Robot Grippers. The Linear Complementarity Approach, Zeitschrift für Angewandte Mathematik und Mechanik 71, pp.257-265, 1991.
DOI : 10.1177/027836499000900102

P. Alart and A. Curnier, A mixed formulation for frictional contact problems prone to Newton like solution methods, Computer Methods in Applied Mechanics and Engineering, vol.92, issue.3, pp.353-375, 1991.
DOI : 10.1016/0045-7825(91)90022-X

M. Anitescu, F. A. Potra, and D. E. Stewart, Time-stepping for three-dimensional rigid body dynamics, Computer Methods in Applied Mechanics and Engineering, vol.177, issue.3-4, pp.183-197, 1999.
DOI : 10.1016/S0045-7825(98)00380-6
URL : ftp://ftp.math.uiowa.edu/pub/comp_math_rep/report-106.ps.Z

P. Christensen, A. Klarbring, J. Pang, and N. Stromberg, Formulation and comparison of algorithms for frictional contact problems, International Journal for Numerical Methods in Engineering, vol.34, issue.1, pp.145-172, 1998.
DOI : 10.1002/nme.1620340116

A. Curnier and P. Alart, A generalized Newton method for contact problems with friction, pp.67-82, 1988.
URL : https://hal.archives-ouvertes.fr/hal-01433772

D. Saxcé, G. Feng, and Z. Q. , New Inequality and Functional for Contact with Friction: The Implicit Standard Material Approach???, Mechanics of Structures and Machines, vol.273, issue.3, pp.301-325, 1991.
DOI : 10.1016/0045-7949(80)90146-7

D. Saxcé, G. Feng, and Z. Q. , The bipotential method: a constructive approach to design the complete contact law with friction and improved numerical algorithms, Math. Comput. Modelling, vol.28, pp.4-8, 1998.

Z. Q. Feng, 2D or 3D frictional contact algorithms and applications in a large deformation context, Communications in Numerical Methods in Engineering, vol.7, issue.5, pp.409-416, 1995.
DOI : 10.1002/nme.1620360403

J. Haslinger, Approximation of the signorini problem with friction, obeying the coulomb law, Mathematical Methods in the Applied Sciences, vol.17, issue.1, pp.422-437, 1983.
DOI : 10.1007/BF01404345

J. Haslinger, Least square method for solving contact problems with friction obeying Coulomb's law, Applications of mathematics, vol.29, issue.3, pp.212-224, 1984.

M. Jean and J. J. Moreau, Unilaterality and dry friction in the dynamics of rigid bodies collections, Proc. of Contact Mech Presses Polytechniques et Universitaires Romandes, pp.31-48, 1992.

M. Jean and G. Touzot, Implementation of unilateral contact and dry friction in computer codes dealing with large deformations problems, J. Méc. Théor. Appl, vol.7, issue.1, pp.145-160, 1988.

F. Jourdan, P. Alart, and M. Jean, A Gauss-Seidel like algorithm to solve frictional contact problems, Computer Methods in Applied Mechanics and Engineering, vol.155, issue.1-2, pp.31-47, 1998.
DOI : 10.1016/S0045-7825(97)00137-0

A. Klarbring, A mathematical programming approach to three-dimensional contact problems with friction, Computer Methods in Applied Mechanics and Engineering, vol.58, issue.2, pp.175-200, 1986.
DOI : 10.1016/0045-7825(86)90095-2

A. Klarbring and G. Björkman, A mathematical programming approach to contact problems with friction and varying contact surface, Computers & Structures, vol.30, issue.5, pp.1185-1198, 1988.
DOI : 10.1016/0045-7949(88)90162-9

A. Klarbring and J. S. Pang, Existence of Solutions to Discrete Semicoercive Frictional Contact Problems, SIAM Journal on Optimization, vol.8, issue.2, pp.414-442, 1998.
DOI : 10.1137/S105262349629784X

A. Y. Leung, C. Guoqing, and C. Wanji, Smoothing Newton method for solving two- and three-dimensional frictional contact problems, International Journal for Numerical Methods in Engineering, vol.1, issue.6, pp.1001-1027, 1998.
DOI : 10.1137/1.9781611971200

E. N. Mitsopoulou and I. N. Doudoumis, A contribution to the analysis of unilateral contact problems with friction, Solid Mechanics Archives, vol.12, issue.3, pp.165-186, 1987.

E. N. Mitsopoulou and I. N. Doudoumis, On the solution of the unilateral contact frictional problem for general static loading conditions, Computers & Structures, vol.30, issue.5, pp.1111-1126, 1988.

M. Marques and M. D. , Differential Inclusions in Nonsmooth Mechanical Problems. Shocks and Dry Friction, Progress in Nonlinear Differential Equations and their Applications, 1993.
DOI : 10.1007/978-3-0348-7614-8

J. J. Moreau, Unilateral Contact and Dry Friction in Finite Freedom Dynamics, Nonsmooth Mechanics and Applications . CISM, Courses and lectures, pp.1-82, 1988.
DOI : 10.1007/978-3-7091-2624-0_1

J. S. Pang and D. E. Stewart, A unified approach to discrete frictional contact problems, International Journal of Engineering Science, vol.37, issue.13, pp.1747-1768, 1999.
DOI : 10.1016/S0020-7225(98)00143-8

J. S. Pang and J. C. Trinkle, Complementarity formulations and existence of solutions of dynamic multi-rigid-body contact problems with coulomb friction, Mathematical Programming, vol.14, issue.2, pp.199-226, 1996.
DOI : 10.1007/BFb0120929

J. K. Park and B. M. Kwak, Three-Dimensional Frictional Contact Analysis Using the Homotopy Method, Journal of Applied Mechanics, vol.61, issue.3, pp.703-709, 1994.
DOI : 10.1115/1.2901517

F. Pfeiffer and C. Glocker, Multibody Dynamics with Unilateral Contacts In: Non-linear Dynamics, 1996.
DOI : 10.1002/9783527618385

D. E. Stewart and J. C. Trinkle, AN IMPLICIT TIME-STEPPING SCHEME FOR RIGID BODY DYNAMICS WITH INELASTIC COLLISIONS AND COULOMB FRICTION, International Journal for Numerical Methods in Engineering, vol.61, issue.15, 1996.
DOI : 10.1002/zamm.19810611202