Bernard Brogliato, Zhang Hongjian, Caishan Liu. Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls.
Multibody System Dynamics, Springer Verlag, 2012, 27 (3), pp.351-382.
⟨10.1007/s11044-012-9301-3⟩.
⟨hal-00825573⟩