@inproceedings{CASE-2008-NicholsM,
	author        = "Kirk Nichols and Todd D. Murphey",
	booktitle     = "{Proceedings of the Fourth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2008.4626495",
	isbn          = "978-1-4244-2022-3",
	pages         = "802--807",
	publisher     = "{IEEE}",
	title         = "{Variational integrators for constrained cables}",
	year          = 2008,
}