@article{20057,
  author       = {{Demoures, F. and Gay-Balmaz, F. and Leyendecker, S. and Ober-Blöbaum, Sina and Ratiu, T.S. and Weinand, Y.}},
  issn         = {{0029-599X}},
  journal      = {{Numerische Mathematik}},
  keywords     = {{53D05, 65P10, 74B20, 74H15}},
  pages        = {{73--123}},
  publisher    = {{Springer Berlin Heidelberg}},
  title        = {{{Discrete variational Lie group formulation of geometrically exact beam dynamics}}},
  doi          = {{10.1007/s00211-014-0659-4}},
  volume       = {{130(1)}},
  year         = {{2015}},
}