Efficient Parallel Dynamics Computation of Human Figures

  title={Efficient Parallel Dynamics Computation of Human Figures},
  author={Katsu Yamane and Yoshihiko Nakamura},
An e cient parallel algorithm for forward dynam ics computation of human gures is to be proposed The algorithm is capable of handling any kinematic chains including structure varying ones The asymp totic complexity of the algorithm is O N in serial computation and O logN in parallel computation on O N processors for most practical kinematic chains The idea is to assemble a kinematic chain by adding the joints one by one and compute the constraint forces at the new joints using the Principle of… CONTINUE READING
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