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. [https://people.eecs.berkeley.edu/~jfc/mirtich/thesis/mirtichThesis.pdf Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [https://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both algorithms.

References

{{cite book | first=R. | last=Featherstone | title=Robot Dynamics Algorithms | publisher=Kluwer | location=Boston | year=1987 | isbn=0-89838-230-0}}

External links

[https://github.com/bulletphysics/bullet3/tree/master/src/BulletDynamics/Featherstone Featherstone Multibody in Bullet Physics engine]
[http://physsim.sourceforge.net Featherstone's algorithm implementation in the Moby rigid body dynamics simulator]
[http://www.kuffner.org/james/software/ Source code for implementation of Featherstone's algorithm]
[http://www.thyrix.com/documentation/featherstone_method.php Description and references]
[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]
[https://www.cs.cmu.edu/~baraff/papers/index.html Baraff's Lagrange multiplier method]
[http://royfeatherstone.org Roy Featherstone's home page]

Category:Mechanics

Category:Computational physics

Category:Computer physics engines