JVRB Submissions Indexed By 1.2004 2.2005 3.2006 4.2007 Exploiting OSGi capabilities from MHP applications Why Death Matters: Understanding Gameworld Experience Marker-Based Embodied Interaction for Handheld Augmented Reality Games How to Improve the Production Process for interactive TV with semi-formal Methods Video Composer and Live Video Conductor: Future Professions for the Interactive Digital Broadcasting Industry Semi-Automated Creation of Converged iTV Services: From Macromedia Director Simulations to Services Ready for Broadcast High-Level Modeling of Multimodal Interaction Techniques Using NiMMiT Methods and Applications in Interactive Broadcasting Tracking of industrial objects by using CAD models Passive-Active Geometric Calibration for View-Dependent Projections onto Arbitrary Surfaces 3-D Audio in Mobile Communication Devices: Methods for Mobile Head-Tracking Topologically Accurate Dual Isosurfacing Using Ray Intersection Augmenting a Laser Pointer with a Diffraction Grating for Monoscopic 6DOF Detection Interactive Augmentation of Live Images using a HDR Stereo Camera Fitting 3D morphable models using implicit representations The art to keep in touch The good use of Lagrange multipliers 5.2008 Editorial Board Author's Section Reviewer's Section News Conferences

1. Introduction

2. Lagrange equations of motion

2.1. Unconstrained motion

2.2. Constrained motion

2.3. Inequality constraints management

3. Previous work

4. Our contribution

4.1. A first approach

4.2. The “right” algorithm

5. Results and Comparisons

6. Conclusion

Bibliography