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Featherstone's algorithm

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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.

External links

Source code for implementation of Featherstone's algorithm

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

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