@InProceedings{cisneros:simpar:2016,
  author    = {Cisneros, Rafael and Kikuuwe, Ryo and Nakaoka, Shin\textquotesingle ichiro and Kanehiro, Fumio},
  title     = {Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom},
  booktitle = {IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots},
  year      = {2016},
  volume    = {5},
  number    = {1},
  address   = {San Francisco, USA},
  month     = {December 13-December 16},
  keywords  = {Friction, Robots, Solid modeling, Kinematics, Computational modeling, Numerical models, Power cables},
  doi       = {10.1109/SIMPAR.2016.7862385},
  abstract  = {This paper presents a technique to achieve a stable simulation of flexible cable-like objects approximated as serial kinematic chains with a high number of passive degrees of freedom. This is achieved by implementing a dry-friction model based on implicit Euler integration of Coulomb-like discontinuous friction, which does not exhibit chattering nor unbounded drift. The applicability of this technique is demonstrated through its implementation to simulate a hose for the Japan Virtual Robotics Challenge.}
}