@ARTICLE{castro2020atransition,
author={Castro, Alejandro M. and Qu, Ante and Kuppuswamy, Naveen and Alspach, Alex and Sherman, Michael},
journal={IEEE Robotics and Automation Letters}, 
title={A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction}, 
year={2020},
volume={5},
number={2},
pages={1859--1866},
doi={10.1109/LRA.2020.2969933}
}