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The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. [http://www.kuffner.org/james/software/dynamics/mirtich/ Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [http://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==
*[http://www.kuffner.org/james/software/ Source code for implementation of Featherstone's algorithm]
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*[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]
*[http://www.cs.cmu.edu/~baraff/papers/index.html Baraff's Lagrange multiplier method]
▲==References==
▲* {{cite book | first=R. | last=Featherstone | title=Robot Dynamics Algorithms | publisher=Kluwer | ___location=Boston | year=1987 | isbn=0-89838-230-0}}
[[Category:Mechanics]]
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