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Subspace Projection-Based Collision Detection for Physical ..:

Lee, Sang-Duck ; Ahn, Kuk-Hyun ; Song, Jae-Bok
International Journal of Precision Engineering and Manufacturing.  20 (2019)  7 - p. 1119-1126 , 2019
Link: https://doi.org/10.1007/s12541-019-00130-z