M. Abadie, Dynamic Simulation of Rigid Bodies: Modelling of Frictional Contact, Mechanical Systems: Analysis and Modelling, pp.61-144, 2000.
DOI : 10.1007/3-540-45501-9_2

V. Acary, Toward higher order event?capturing schemes and adaptive time?step strategies for nonsmooth multibody systems, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00440771

V. Acary and B. Brogliato, Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, Lecture Notes in Applied and Computational Mechanics, vol.35, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00423530

V. Acary and B. Brogliato, Implicit euler numerical scheme and chattering-free implementation of sliding mode systems. Systems and Control Letters
URL : https://hal.archives-ouvertes.fr/inria-00423576

V. Acary, C. I. Morarescu, F. Pérignon, and B. Brogliato, Numerical simulation of nonsmooth systems and switching control with the siconos/control toolbox, 6th Euromech Nonlinear Dynamics Conference, p.29, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00389385

M. Arnold, A perturbation analysis for the dynamical simulation of mechanical multibody systems, Applied Numerical Mathematics, vol.18, issue.1-3, pp.37-56, 1995.
DOI : 10.1016/0168-9274(95)00042-S

M. Arnold, Numerical methods for simulation in applied dynamics, pp.191-246, 2008.
DOI : 10.1007/978-3-211-89548-1_5

P. Ballard, The dynamics of discrete mechanical systems with perfect unilateral constraints. Archives for Rational Mechanics and Analysis, pp.199-274, 2000.
URL : https://hal.archives-ouvertes.fr/hal-00111308

P. Ballard, Bounded variations and measure theory on the line. Lectures notes of the second summer on Nonsmooth Dynamics, Autrans, 2003.

K. E. Brenan, S. Campbell, and L. R. Petzold, Numerical Solution of Initial-Value Problems in Differential-Algebraic Equations, 1989.
DOI : 10.1137/1.9781611971224

B. Brogliato, Nonsmooth Mechanics: Models, Dynamics and Control, 1999.
URL : https://hal.archives-ouvertes.fr/hal-01236953

O. Brüls, A. Cardona, and M. Géradin, Modeling, simulation and control of flexible multibody systems, Arnold and Schiehlen, pp.21-74, 2008.

R. Dzonou and M. D. Marques, A sweeping process approach to inelastic contact problems with general inertia operators, European Journal of Mechanics - A/Solids, vol.26, issue.3, pp.474-490, 2007.
DOI : 10.1016/j.euromechsol.2006.07.002

C. W. Gear, B. Leimkuhler, and G. K. Gupta, Automatic integration of Euler-Lagrange equations with constraints, Journal of Computational and Applied Mathematics, vol.12, issue.13, pp.12-1377, 1985.
DOI : 10.1016/0377-0427(85)90008-1

. Ch, E. Glocker, R. I. Cataldi-spinola, and . Leine, Curve squealing of trains: Measurement, modelling and simulation, Journal of Sound and Vibration, vol.324, issue.12, pp.365-386, 2009.

M. Géradin and A. Cardona, Flexible Multibody Dynamics: A finite element Approach, 2001.

E. Hairer and G. Wanner, Solving Ordinary Differential Equations II. Stiff and Differential- Algebraic Problems, 1996.
DOI : 10.1007/978-3-642-05221-7

E. Hairer, . Ch, M. Lubich, and . Roche, The Numerical Solution of Differential?Algebraic Systems by Runge?Kutta Methods, 1987.
DOI : 10.1007/BFb0093947

E. Hairer, S. P. Norsett, and G. Wanner, Solving Ordinary Differential Equations I. Nonstiff Problems, 1993.

A. Herdt, H. Diedam, P. Wieber, D. Dimitrov, K. Mombaur et al., Online Walking Motion Generation with Automatic Foot Step Placement (under review) Advanced Robotics, 2009.
DOI : 10.1163/016918610x493552

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.517.2444

O. Janin and C. H. Lamarque, Comparison of several numerical methods for mechanical systems with impacts, International Journal for Numerical Methods in Engineering, vol.51, issue.9, pp.1101-1132, 2001.
DOI : 10.1002/nme.206

URL : https://hal.archives-ouvertes.fr/hal-00814950

P. Lötstedt and L. R. Petzold, Numerical Solution of Nonlinear Differential Equations with Algebraic Constraints I: Convergence Results for Backward Differentiation Formulas, Mathematics of Computation, vol.46, issue.174, pp.491-516, 1986.
DOI : 10.2307/2007989

M. Mabrouk, A unified variational model for the dynamics of perfect unilateral constraints, European Journal of Mechanics - A/Solids, vol.17, issue.5, pp.819-842, 1998.
DOI : 10.1016/S0997-7538(98)80007-7

R. Mannshardt, One-step methods of any order for ordinary differential equations with discontinuous right-hand sides, Numerische Mathematik, vol.1, issue.93, pp.131-152, 1978.
DOI : 10.1007/BF01397472

M. D. Marques, Differential Inclusions in Nonsmooth Mechanical Problems. Shocks and Dry Friction, Progress in Nonlinear Differential Equations and their Applications, 1993.

J. J. Moreau, Approximation en graphe d'une ??volution discontinue, RAIRO. Analyse num??rique, vol.12, issue.1, pp.75-84, 1978.
DOI : 10.1051/m2an/1978120100751

J. J. Moreau, Liaisons unilatérales sans frottement et chocs inélastiques Comptes Rendus de l'Académie des Sciences, 296 série II, pp.1473-1476, 1983.

J. J. Moreau, Unilateral Contact and Dry Friction in Finite Freedom Dynamics, Nonsmooth Mechanics and Applications, number 302 in CISM, Courses and lectures, pp.1-82, 1988.
DOI : 10.1007/978-3-7091-2624-0_1

J. J. Moreau, Bounded variation in time, Topics in Nonsmooth Mechanics, pp.1-74, 1988.
URL : https://hal.archives-ouvertes.fr/hal-01363799

J. J. Moreau, Numerical aspects of the sweeping process, Computer Methods in Applied Mechanics and Engineering, vol.177, issue.3-4, pp.329-349, 1999.
DOI : 10.1016/S0045-7825(98)00387-9

URL : https://hal.archives-ouvertes.fr/hal-01349847

J. J. Moreau, Fonctionnelles Convexes. Séminaire sur leséquationsleséquations aux dérivées partielles, 1967.

L. Paoli, An existence result for non-smooth vibro-impact problems, Journal of Differential Equations, vol.211, issue.2, pp.247-281, 2005.
DOI : 10.1016/j.jde.2004.11.008

L. Paoli and M. Schatzman, A Numerical Scheme for Impact Problems I: The One-Dimensional Case, SIAM Journal on Numerical Analysis, vol.40, issue.2, pp.702-733, 2002.
DOI : 10.1137/S0036142900378728

L. Paoli and M. Schatzman, A Numerical Scheme for Impact Problems II: The Multidimensional Case, SIAM Journal on Numerical Analysis, vol.40, issue.2, pp.734-768, 2002.
DOI : 10.1137/S003614290037873X

L. Paoli and M. Schatzman, Approximation and existence in vibro-impact. Comptes Rendus de l'Académie des Sciences, pp.1103-1107, 1999.

F. Pfeiffer and C. Glocker, Multibody Dynamics with Unilateral Contacts. Non-linear Dynamics, 1996.

R. T. Rockafellar, Convex Analysis, 1970.
DOI : 10.1515/9781400873173

M. Schatzman, A class of nonlinear differential equations of second order in time, Nonlinear Analysis: Theory, Methods & Applications, vol.2, issue.3, pp.355-373, 1978.
DOI : 10.1016/0362-546X(78)90022-6

URL : https://hal.archives-ouvertes.fr/hal-01294058

D. Stewart, Convergence of a time-stepping scheme for rigid-body dynamics and resolution of Painlevé's problem. Archives for Rational Mechanics and Analysis, pp.215-260, 1998.

D. Stewart, Rigid-Body Dynamics with Friction and Impact, SIAM Review, vol.42, issue.1, pp.3-39, 2000.
DOI : 10.1137/S0036144599360110

C. Studer, Numerics of Unilateral Contacts and Friction. ? Modeling and Numerical Time Integration in Non-Smooth Dynamics, Lecture Notes in Applied and Computational Mechanics, vol.47, 2009.

C. Studer, R. I. Leine, and C. Glocker, Step size adjustment and extrapolation for time-stepping schemes in non-smooth dynamics, INRIA Contents 1 Introduction and Motivations 3, pp.1747-1781, 2008.
DOI : 10.1002/nme.2383

URL : https://hal.archives-ouvertes.fr/hal-01352897