Featherstone's algorithm: Difference between revisions

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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]].

The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular [[Lagrange multiplier method]], which uses maximal coordinates. [httphttps://wwwpeople.kuffnereecs.orgberkeley.edu/james/software/dynamics~jfc/mirtich/thesis/mirtichThesis.pdf Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [httphttps://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both algorithms[[algorithm]]s.

==External linksReferences==

* {{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]

*[httphttps://www.cs.cmu.edu/~baraff/papers/index.html Baraff's LangrageLagrange multiplier method]

*[http://royfeatherstone.org Roy Featherstone's home page]

==References==

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

[[Category:Mechanics]]

[[Category:Computational physics]]

[[Category:Computer physics engines]]

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