@articleDemoures_Gay-Balmaz_Leyendecker_Ober-Blöbaum_Ratiu_Weinand_2015, title=Discrete variational Lie group formulation of geometrically exact beam dynamics, volume=130(1), DOI=10.1007/s00211-014-0659-4, journal=Numerische Mathematik, publisher=Springer Berlin Heidelberg, author=Demoures, F. and Gay-Balmaz, F. and Leyendecker, S. and Ober-Blöbaum, Sina and Ratiu, T.S. and Weinand, Y., year=2015, pages=73–123