Dynamics computation of structure-varying kinematic chains and its application to human figures

  title={Dynamics computation of structure-varying kinematic chains and its application to human figures},
  author={Yoshihiko Nakamura and Katsu Yamane},
  journal={IEEE Trans. Robotics and Automation},
This paper discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle and compute the dynamics and motions of any rigid link systems in a seamless manner without switching among algorithms. The computation is developed on the foundation of the dynamics computation algorithms established in robotics, which is superior in efficiency… CONTINUE READING
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