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Most current approaches for simulating robots in 3D with rigid body dynamics and contact operate by taking fixed, first order integration steps. In this paper, we investigate the viability of various integration approaches (semi implicit and fully explicit first-order, fourth order Runge Kutta, and variable step first order) for maximizing computational efficiency (accuracy and stability vs. running time) on typical robotics manipulation and locomotion applications. After arguing thatdoi:10.1109/iros.2015.7354139 dblp:conf/iros/ZapolskyD15 fatcat:ylpy2gbvfbcn7n7gg74zxbxtry