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Featherstone's algorithm

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This is an old revision of this page, as edited by Oleg Alexandrov (talk | contribs) at 03:02, 11 March 2006 (that is more mechanics than math). The present address (URL) is a permanent link to this revision, which may differ significantly from the current revision.

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.

Source code for implementation of Featherstone's algorithm

Featherstone, Roy (1987). Robot Dynamics Algorithms. Boston: Kluwer. ISBN 0898382300.

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