{"id":50883971,"url":"https://github.com/jslee02/awesome-robotics-simulation","last_synced_at":"2026-06-15T15:01:49.841Z","repository":{"id":44729361,"uuid":"115197219","full_name":"jslee02/awesome-robotics-simulation","owner":"jslee02","description":":sunglasses: A curated list of resources for multibody dynamics simulation papers","archived":false,"fork":false,"pushed_at":"2026-05-31T20:56:25.000Z","size":88,"stargazers_count":92,"open_issues_count":0,"forks_count":8,"subscribers_count":7,"default_branch":"main","last_synced_at":"2026-05-31T22:17:13.609Z","etag":null,"topics":["awesome-list","multibody-dynamics","robotics","robotics-simulation","simulation"],"latest_commit_sha":null,"homepage":"https://jslee02.github.io/awesome-multibody-dynamics-simulation/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"cc0-1.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/jslee02.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2017-12-23T13:28:02.000Z","updated_at":"2026-05-31T20:56:28.000Z","dependencies_parsed_at":"2022-08-02T22:45:34.556Z","dependency_job_id":null,"html_url":"https://github.com/jslee02/awesome-robotics-simulation","commit_stats":null,"previous_names":["jslee02/awesome-robotics-simulation"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/jslee02/awesome-robotics-simulation","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jslee02%2Fawesome-robotics-simulation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jslee02%2Fawesome-robotics-simulation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jslee02%2Fawesome-robotics-simulation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jslee02%2Fawesome-robotics-simulation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/jslee02","download_url":"https://codeload.github.com/jslee02/awesome-robotics-simulation/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/jslee02%2Fawesome-robotics-simulation/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34367696,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-15T02:00:07.085Z","response_time":63,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["awesome-list","multibody-dynamics","robotics","robotics-simulation","simulation"],"created_at":"2026-06-15T15:01:47.758Z","updated_at":"2026-06-15T15:01:49.771Z","avatar_url":"https://github.com/jslee02.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Awesome Robotics Simulation\n\n[![Awesome](https://awesome.re/badge.svg)](https://awesome.re)\n\nA curated list of resources for robotics simulation, including dynamics, physics engines, contact modeling, sensors, sim-to-real, benchmarks, and related tools.\n\n## Contents\n\n* [Papers](#papers)\n  * [1. Multibody Dynamics Formulation](#1-multibody-dynamics-formulation)\n    * [Geometric Formulation](#geometric-formulation)\n    * [Geometric Integration](#geometric-integration)\n    * [Inverse Dynamics](#inverse-dynamics)\n  * [2. Contact / Collision](#2-contact-collision)\n    * [Non-LCP based Methods](#non-lcp-based-methods)\n    * [Simultaneous Contact](#simultaneous-contact)\n    * [Non-uniform Coefficient of Restitution Model](#non-uniform-coefficient-of-restitution-model)\n  * [3. Discrete Mechanics / Variational Integrators](#3-discrete-mechanics-variational-integrators)\n    * [Core / Overview](#core-overview)\n    * [Geometric Formulation](#geometric-formulation)\n    * [High Order Convergence](#high-order-convergence)\n    * [Constrained Variational Integrators](#constrained-variational-integrators)\n    * [Multibody Dynamics](#multibody-dynamics)\n    * [Adaptive Time-stepping / Asynchronous Integration](#adaptive-time-stepping-asynchronous-integration)\n    * [Stochastic Mechanics](#stochastic-mechanics)\n    * [Trajectory Optimization / DMOC](#trajectory-optimization-dmoc)\n    * [ETC](#etc)\n  * [4. Position Based Dynamics](#4-position-based-dynamics)\n  * [5. Deformable Body / Granular / Fluid Simulation](#5-deformable-body-granular-fluid-simulation)\n  * [6. Inverse Kinematics](#6-inverse-kinematics)\n  * [7. Trajectory Optimization](#7-trajectory-optimization)\n  * [8. Applications](#8-applications)\n  * [9. Survey](#9-survey)\n  * [10. Vehicle Dynamics](#10-vehicle-dynamics)\n    * [Tire/Road model](#tireroad-model)\n  * [11. Cloth Simulation](#11-cloth-simulation)\n* [Thesis](#thesis)\n* [Slides / Lectures](#slides-lectures)\n* [Thesis](#thesis)\n* [Books](#books)\n* [Relevant Awesome Lists](#relevant-awesome-lists)\n\n## [Papers](#contents)\n\n### 1. Multibody Dynamics Formulation\n\n#### Geometric Formulation\n\n* A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains (2001), G Sohl and J. Bobrow. [[pdf](https://jebobrow.eng.uci.edu/sites/default/files/ASME_Recursive_Garett.pdf)]\n* Coordinate-invariant Algorithms for Robot Dynamics (1999), S. Ploen and F. Park. [[pdf](http://robotics.snu.ac.kr/fcp/files/_pdf_files_publications/2_msd/coordinat-invariant_algorithm.pdf)]\n* A Lie Group Formulation of Robot Dynamics (1995), F. Park et al. [[doi](https://doi.org/10.1177/027836499501400606)]\n\n#### Geometric Integration\n\n* Geometric Integration on Euclidean Group with Application to Articulated Multibody Systems (2005), J. Park and W.-K. Chung. [[pdf](http://www.ent.mrt.ac.lk/iml/paperbase/TRO%20Collection/TRO/2005/october/7.pdf)]\n\n#### Inverse Dynamics\n\n* Inverse Dynamics with Rigid Contact and Friction (2017), S. Zapolsky and E. Drumwright. [[pdf](https://arxiv.org/pdf/1509.03355.pdf)]\n\n### 2. Contact / Collision\n\n* Resolving Force Indeterminacy in Contact Dynamics Using Compatibility Conditions (2018), T. Olsen and K. Kamrin. [[pdf](https://arxiv.org/pdf/1805.07437.pdf)]\n* Posing Multibody Dynamics with Friction and Contact as a Differential Complementarity Problem (2018), D. Negrut et al. [[pdf](https://par.nsf.gov/servlets/purl/10081420)]\n* Analysis and Computation of Two Body Impact in Three Dimensions (2017), Y.-B. Jia and F. Yang. [[pdf](http://web.cs.iastate.edu/~jia/papers/CND17.pdf)]\n* Rigid Body Contact Problems using Proximal Operators (2017), K. Erleben. [[pdf](http://image.diku.dk/kenny/download/erleben.17a.pdf)]\n* Making a Meaningful Impact: Modelling Simultaneous Frictional Collisions in Spatial Multibody Systems (2015), T. Uchida et al. [[web](https://pmc.ncbi.nlm.nih.gov/articles/PMC4984984/)]\n* Performance of a Method for Formulating Geometrically Exact Complementarity Constraints in Multibody Dynamic Simulation (2015), D. Flickinger et al. [[pdf](https://www.researchgate.net/profile/Daniel_Flickinger/publication/274874514_Performance_of_a_Method_for_Formulating_Geometrically_Exact_Complementarity_Constraints_in_Multibody_Dynamic_Simulation/links/56b613b308ae44bb3307820a.pdf)]\n* What’s Wrong with Collision Detection in Multibody Dynamics Simulation? (2013), D. Flickinger et al. [[pdf](http://twiki.cs.rpi.edu/foswiki/pub/RoboticsWeb/LabPublications/FlickingerICRA2013.pdf)]\n* Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation using the Principle of Maximum Dissipation (2011), E. Drumwright and D. Shell. [[pdf](http://ai2-s2-pdfs.s3.amazonaws.com/f276/e8c072b8ff33ffbaa285af3368f756c9e062.pdf)]\n* Staggered Projections for Frictional Contact in Multibody Systems (2008), D. Kaufman et al. [[pdf](https://www.researchgate.net/profile/Doug_James/publication/220183619_Staggered_Projections_for_Frictional_Contact_in_Multibody_Systems/links/09e4150e200433ec26000000.pdf)]\n* Velocity-Based Shock Propagation for Multibody Dynamics Animation (2007), K. Erleben. [[pdf](https://www.researchgate.net/profile/Kenny_Erleben/publication/220184619_Velocity-based_shock_propagation_for_multibody_dynamics_animation/links/00b4953c931220d049000000.pdf)]\n* An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Inelastic Collisions and Coulomb Friction (1996), D. Stewart and J. Trinkle. [[pdf](http://www.cs.rpi.edu/~trink/Papers/STijnme96.pdf)]\n* Impulse-based Simulation of Rigid Bodies (1995), B. Mirtich and J. Canny. [[pdf](https://pdfs.semanticscholar.org/e35b/6f409bb07dbe3407c9d6949330b903d063a8.pdf)]\n\n#### Non-LCP based Methods\n\n* Multi-contact Frictional Rigid Dynamics using Impulse Decomposition (2017), S. Li et al. [[pdf](https://wwwx.cs.unc.edu/~geom/papers/documents/articles/2017/LiSheng_IROS_2017.pdf)]\n* Fast Frictional Dynamics for Rigid Bodies (2005), D. Kaufman et al. [[pdf](http://research.cs.rutgers.edu/~tedmunds/publications/FFD-siggraph2005.pdf)]\n\n#### Simultaneous Contact\n\n* All's Well That Ends Well: Guaranteed Resolution of Simultaneous Rigid Body Impact (2017), E. Vouga et al. [[pdf](http://www.cs.utexas.edu/users/evouga/uploads/4/5/6/8/45689883/term-revised.pdf)]\n* Quadratic Contact Energy Model for Multi-impact Simulation (2015), T. Zhang et al. [[pdf](https://www.graphics.pku.edu.cn/docs/20220703165309179406.pdf)]\n* Reflections on Simultaneous Impact (2012), B. Smith et al. [[pdf](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.643.404\u0026rep=rep1\u0026type=pdf)]\n\n#### Non-uniform Coefficient of Restitution Model\n\n* Bounce Maps: An Improved Restitution Model for Real-Time Rigid-Body Impact (2017), J.-H. Wang et al. [[pdf](https://graphics.stanford.edu/projects/bouncemap/assets/restitution_lowres.pdf)] [[video](https://youtu.be/SL9goi6vQG4)]\n\n### 3. Discrete Mechanics / Variational Integrators\n\n#### Core / Overview\n\n* General Techniques for Constructing Variational Integrators (2011), M. Leok and T. Shingel. [[pdf](https://arxiv.org/pdf/1102.2685.pdf)]\n* An Overview of Variational Integrators (2003), A. Lew et al. [[pdf](https://authors.library.caltech.edu/20293/1/LeMaOrWe2004a.pdf)]\n* Discrete Mechanics and Variational Integrators (2001), J. Marsden and M. West. [[pdf](https://authors.library.caltech.edu/19876/1/MaWe2001.pdf)]\n\n#### Geometric Formulation\n\n* Dual Quaternion Variational Integrator for Rigid Body Dynamic Simulation (2016), J. Xu and K. Halse. [[arXiv](https://arxiv.org/pdf/1611.00616.pdf)]\n* Discrete Geometric Optimal Control on Lie Groups (2011), M. Kobilarov and J. Marsden. [[pdf](https://pdfs.semanticscholar.org/d294/0ce9a9bb1e569cb4ebb632e07db8d3255c08.pdf)]\n\n#### High Order Convergence\n\n* Surrogate Lagrangians for Variational Integrators: High Order Convergence with Low Order Schemes (20017), G. Torre and T. Murphey. [[pdf](https://arxiv.org/pdf/1709.03883.pdf)]\n\n#### Constrained Variational Integrators\n\n* Hamilton's Principle as Variational Inequality for Mechanical Systems with Impact (2016), R. Leine et al. [[pdf](https://hal.archives-ouvertes.fr/hal-01352880/document)]\n* Study of Newton's Cradle using a New Discrete Approach (2015), A. Rodriguez and A Bowling. [[pdf](https://www.researchgate.net/profile/Adrian_Rodriguez31/publication/267490830_Study_of_the_Stick-Slip_Transition_of_Newton%27s_Cradle_With_Friction/links/57c506fe08aecd451415613a/Study-of-the-Stick-Slip-Transition-of-Newtons-Cradle-With-Friction.pdf)]\n* A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences (2014), \nV. Seghete and T. Murphey. [[pdf](https://arxiv.org/pdf/1709.02296.pdf)]\n* Variational Solutions to Simultaneous Collisions between Multiple Rigid Bodies (2010), V. Seghete and T. Murphey. [[pdf](https://nxr.northwestern.edu/sites/default/files/publications/murphey-2010ICRAa.pdf)]\n* Multiple Instantaneous Collisions in a Variational Framework (2009), V. Seghete and T. Murphey. [[pdf](https://nxr.northwestern.edu/sites/default/files/publications/murphey-2009CDCa.pdf)]\n* Variational Collision Integrators and Optimal Control (2008), D Pekarek and J. Marsden. [[pdf](https://authors.library.caltech.edu/20571/1/PeMa2008.pdf)]\n* Variational Integrators for Constrained Dynamical Systems (2008), S. Leyendecker et al. [[pdf](http://www.ltd.techfak.fau.de/Team/Leyendecker/Arxiv/Journal/leyendecker07-2.pdf)]\n* Nonsmooth Lagrangian Mechanics and Variational Collision Integrators (2003), R. Fetecau et al. [[pdf](http://epubs.siam.org/doi/pdf/10.1137/S1111111102406038)]\n* Time-discretized Variational Formulation of Non-smooth Frictional Contact (2002), A. Pandolfi et al. [[pdf](http://ai2-s2-pdfs.s3.amazonaws.com/d336/b0627a7f37f8e7ff1c3db3a34c0351705be3.pdf)]\n\n#### Multibody Dynamics\n\n* A Linear-Time Variational Integrator for Multibody Systems (2016), J. Lee et al. [[pdf](https://arxiv.org/pdf/1609.02898.pdf)]\n* Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates (2009), E. Johnson and T. Murphey. [[pdf](https://nxr.northwestern.edu/sites/default/files/publication-attachments/2009TROJoMu_expanded.pdf)]\n\n#### Adaptive Time-stepping / Asynchronous Integration\n\n* A variational approach to multirate integration for constrained systems (2013), S. Leyendecker and S. Ober-Blobaum. [[pdf](http://www.ltd.tf.fau.de/Team/Leyendecker/Arxiv/LeyendeckerOber-Bloebaum_bookchapter13.pdf)]\n* Asynchronous Variational Integrators (2003), A. Lew et al. [[pdf](https://authors.library.caltech.edu/19592/1/LeMaOrWe2003.pdf)]\n\n#### Stochastic Mechanics\n\n* Stochastic Variational Integrators (2008), N. Bou-Rabee and H. Owhadi. [[pdf](https://arxiv.org/pdf/0708.2187.pdf)]\n\n#### Trajectory Optimization / DMOC\n\n* Autonomous Suspended Load Operations via Trajectory Optimization and Variational Integrators (2017), G. Torre et al. [[pdf](https://gerardodelatorredotorg.files.wordpress.com/2015/11/slung1.pdf)]\n* On the Benefits of Surrogate Lagrangians in Optimal Control and Planning Algorithms (2016), G. Torre and T. Murphey. [[pdf](https://pdfs.semanticscholar.org/2f86/5363621d0a3c68a2b48c8408220023e0db00.pdf)]\n\n#### ETC\n\n* Modified equations for variational integrators applied to Lagrangians linear in velocities (2017), M. Vermeeren. [[pdf](https://arxiv.org/pdf/1709.09567.pdf)]\n* Variational Integrators for Structure-Preserving Filtering (2016), J. Schultz et al.\n\n### 4. Position Based Dynamics\n\n* ADMM ⊇ Projective Dynamics: Fast Simulation of General Constitutive Models (2016), R. Narain et al. [[pdf](http://www-users.cs.umn.edu/~narain/files/admm-pd.pdf)]\n* XPBD: Position-Based Simulation of Compliant Constrained Dynamics (2016), M. Macklin et al. [[pdf](http://www.matthias-mueller-fischer.ch/publications/XPBD.pdf)]\n* Stable Constrained Dynamics (2015), M. Tournier et al. [[pdf](https://hal.inria.fr/hal-01157835/document)]\n* Position-Based Rigid Body Dynamics (2014), C. Deul et al. [[pdf](http://onlinelibrary.wiley.com/doi/10.1002/cav.1614/full)]\n* Projective Dynamics: Fusing Constraint Projections for Fast Simulation (2014), S. Bouaziz et al. [[pdf](https://www.projectivedynamics.org/projectivedynamics.pdf)]\n* Position Based Dynamics (2007), M. Müller et al. [[pdf](http://matthias-mueller-fischer.ch/publications/posBasedDyn.pdf)]\n\n### 5. Deformable Body / Granular / Fluid Simulation\n\n* Towards Real-time Simulation of Hyperelastic Materials (2016), T. Liu et al. [[pdf](https://arxiv.org/pdf/1604.07378.pdf)]\n* Interactive Constrained Dynamics for Rigid and Deformable Objects (2015), L. Vezzaro et al. [[pdf](https://iris.univr.it/retrieve/handle/11562/878222/23782/Vezzaro_et_al-2015-Computer_Animation_and_Virtual_Worlds.pdf)]\n\n### 6. Inverse Kinematics\n\n* FABRIK: A Fast, Iterative Solver for the Inverse Kinematics Problem (2011), A. Aristidou and J. Lasenby. [[pdf](https://s3.amazonaws.com/academia.edu.documents/35451443/FABRIK.pdf?AWSAccessKeyId=AKIAIWOWYYGZ2Y53UL3A\u0026Expires=1514061893\u0026Signature=6nnzM3JlrshYXYGvzvrjhAwjUZs%3D\u0026response-content-disposition=inline%3B%20filename%3DFABRIK_A_fast_iterative_solver_for_the_I.pdf)]\n* Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints (2010), A. Escande et al. [[pdf](https://hal.inria.fr/file/index/docid/484853/filename/2010_icra_escande.pdf)]\n* An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels (2003), P. Baerlocher and R. Boulic. [[pdf](https://pdfs.semanticscholar.org/6db0/c8614005a3c9fb2b2524c228caf956cea5fd.pdf)]\n\n### 7. Trajectory Optimization\n\n* Motion Planning with Sequential Convex Optimization and Convex Collision Checking (2014), J. Schulman et al. [[pdf](https://cloudfront.escholarship.org/dist/prd/content/qt6km506db/qt6km506db.pdf)] [[more](http://rll.berkeley.edu/trajopt/ijrr/)]\n* Newton-Type Algorithms for Dynamics-Based Robot Movement Optimization (2005), S.-H. Lee et al. [[pdf](https://www.cs.cmu.edu/afs/cs.cmu.edu/Web/People/junggon/publications/2005_IEEE_TRO_newton-type_algorithms.pdf)]\n\n### 8. Applications\n\n* SMASH: Physics-guided Reconstruction of Collisions from Videos (2017), A. Monszpart et al. [[pdf](https://arxiv.org/pdf/1603.08984.pdf)] [[video](https://youtu.be/rCZ-1yWJP2Q)]\n\n### 9. Survey\n\n* Interactive Simulation of Rigid Body Dynamics in Computer Graphics (2014), J. Bender et al. [[pdf](https://www.animation.rwth-aachen.de/media/papers/2014-CGF-RigidBodyDynamics.pdf)]\n* A Survey on Position-Based Simulation Methods in Computer Graphics (2014), J. Bender et al. [[pdf](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.491.1850\u0026rep=rep1\u0026type=pdf)]\n\n### 10. Vehicle Dynamics\n\n* Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain (2010), L. Ding et al. [[pdf](http://frl.niche.tohoku.ac.jp/pdf/2010-ICRA-DING-online.pdf)]\n\n#### Tire/Road model\n\n* Integrated Longitudinal and Lateral Tire/Road Friction Modeling and Monitoring for Vehicle Motion Control (2006), L. Li et al. [[pdf](https://www.researchgate.net/profile/Fei_Yue_Wang/publication/3427949_Integrated_Longitudinal_and_Lateral_TireRoad_Friction_Modeling_and_Monitoring_for_Vehicle_Motion_Control/links/5a322b340f7e9b2a283779fd/Integrated-Longitudinal-and-Lateral-Tire-Road-Friction-Modeling-and-Monitoring-for-Vehicle-Motion-Control.pdf)]\n\n### 11. Cloth Simulation\n\n* I-Cloth: Incremental Collision Handling for GPU-Based Interactive Cloth Simulation (2018), M. Tang et al. [[project](I-Cloth: Incremental Collision Handling for GPU-Based Interactive Cloth Simulation)]\n\n## [Thesis](#contents)\n\n* Discrete Mechanics and Optimal Control for Space Trajectory Design (2011), A. Moore. [[pdf](https://thesis.caltech.edu/6441/1/Moore_thesis.pdf)]\n* Stable, Robust, and Versatile Multibody Dynamics Animation (2004), K. Erleben. [[pdf](https://www.researchgate.net/profile/Kenny_Erleben/publication/247635853_Stable_Robust_and_Versatile_Multibody_Dynamics_Animation/links/02e7e53c9330597986000000.pdf)]\n\n## [Slides / Lectures](#contents)\n\n* Multibody Dynamics Animation, K. Erleben. [[pdf](https://pdfs.semanticscholar.org/1caa/aac6ddd5ffb0a13b36b10183beaadf1adca9.pdf)]\n\n## [Thesis](#contents)\n\n* Variational Integrators (2004), M. West. [[pdf](https://thesis.caltech.edu/2492/1/west_thesis.pdf)]\n\n## [Books](#contents)\n\n* Modern Robotics: Mechanics, Planning, and Control (2017), K. Lynch and F. Park. [[pdf](http://hades.mech.northwestern.edu/images/7/7f/MR.pdf)]\n* Numerical Methods for Linear Complementarity Problems in Physics-Based Animation (2015), S. Niebe and K. Erleben. [[pdf](http://image.diku.dk/kenny/download/erleben.13.siggraph.course.notes.pdf)]\n* Guide to Dynamic Simulations of Rigid Bodeis and Particle Systems (2012), M. Coutinho. [[web](http://www.springer.com/us/book/9781447144168)]\n* Rigid Body Dynamics Algorithms (2008), R. Featherstone. [[pdf](https://www.google.com/url?sa=t\u0026rct=j\u0026q=\u0026esrc=s\u0026source=web\u0026cd=4\u0026cad=rja\u0026uact=8\u0026ved=0ahUKEwihkeSup6DYAhUK8WMKHQwVBJ0QFghMMAM\u0026url=ftp%3A%2F%2Fnozdr.ru%2Fbiblio%2Fkolxo3%2FP%2FPC%2FPCtm%2FFeatherstone%2520R.%2520Rigid%2520body%2520dynamics%2520algorithms%2520(Springer%2C%25202007)(ISBN%25200387743146)(280s)_PCtm_.pdf\u0026usg=AOvVaw0jd-1HG_FFvl_mmMQLRHkg)]\n* A Mathematical Introduction to Robotic Manipulation (1994), R. Murray et al. [[pdf](http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf)]\n* The Linear Complementarity Problem (1992), R. Cottle et al. [[web](http://epubs.siam.org/doi/abs/10.1137/1.9780898719000.bm)]\n\n## [Relevant Awesome Lists](#contents)\n\n* [Awesome Robotics (ahundt)](https://github.com/ahundt/awesome-robotics)\n* [Awesome Robotics (Kiloreux)](https://github.com/Kiloreux/awesome-robotics)\n* [Awesome Robotics Libraries](https://github.com/jslee02/awesome-robotics-libraries)\n* [Awesome Collision Detection](https://github.com/jslee02/awesome-collision-detection)\n* [Awesome Gazebo](https://github.com/fkromer/awesome-gazebo)\n\n## [Contributing](#contents)\n\nContributions are very welcome. Please read the [contribution guidelines](CONTRIBUTING.md) first. Also, please feel free to report any error.\n\n## [License](#contents)\n\n[![CC0](https://licensebuttons.net/p/zero/1.0/88x31.png)](http://creativecommons.org/publicdomain/zero/1.0/)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjslee02%2Fawesome-robotics-simulation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjslee02%2Fawesome-robotics-simulation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjslee02%2Fawesome-robotics-simulation/lists"}