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# Featherstone's algorithm

Featherstone's algorithm is a technique used for computing the effects of forces applied to a structure of joints and links (an "open kinematic chain") such as a skeleton used in ragdoll physics.

The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. Brian Mirtich's PhD Thesis has a very clear and detailed description of the algorithm. Baraff's paper "Linear-time dynamics using Lagrange multipliers" has a discussion and comparison of both algorithms.

References

Featherstone, R. (1987). Robot Dynamics Algorithms. Boston: Kluwer. ISBN 0-89838-230-0.

External links

The Moby rigid body dynamics simulator contains an implementation of Featherstone's algorithm

Source code for implementation of Featherstone's algorithm

Description and references

Mirtich's Thesis

Baraff's Lagrange multiplier method

Roy Featherstone's home page

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