@ARTICLE{welbergenjgt2009,
 	author={H. van Welbergen and J. Zwiers and Z.M. Ruttkay},
 	title={Real-Time Animation Using a Mix of Physical Simulation and Kinematics},
 	journal={Journal of Graphics, GPU, & Game Tools},
 	year=2009,
 	volume=14,
 	number=4,
 	pages={1--21}, 	
}