@inproceedings{CTT100501286,
  author = {長谷川 晶一 and 藤井 伸旭 and 赤羽克仁 and 小池康晴 and 佐藤 誠},
  title = {力覚インタラクションのための多面体の接触体積に基づく実時間剛体運動シミュレーション},
  booktitle = {計測自動制御学会論文集},
  year = 2004,
}

@inproceedings{CTT100468460,
  author = {Shoichi Hasegawa and Nobuaki Hujii and Yasuharu Koike and Makoto SATO},
  title = {REAL-TIME RIGID BODY SIMULATION FOR POLYHEDRAL OBJECT BASED ON ACCURATE PENALTY METHOD;},
  booktitle = {The 6th International Conference on Motion and Vibration Control Proceedings, Saitama, Japan},
  year = 2002,
}