@inproceedings{SAC-2009-DrumwrightS,
	author        = "Evan Drumwright and Dylan A. Shell",
	booktitle     = "{Proceedings of the 24th Symposium on Applied Computing}",
	doi           = "10.1145/1529282.1529543",
	editor        = "Sung Y. Shin and Sascha Ossowski",
	isbn          = "978-1-60558-166-8",
	pages         = "1176--1180",
	publisher     = "{ACM}",
	title         = "{A robust and tractable contact model for dynamic robotic simulation}",
	year          = 2009,
}