Roy Featherstone. A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy. I. J. Robotic Res., 18(9):876-892, 1999. [doi]
@article{Featherstone99a,
title = {A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy},
author = {Roy Featherstone},
year = {1999},
url = {http://ijr.sagepub.com/cgi/content/abstract/18/9/876},
researchr = {https://researchr.org/publication/Featherstone99a},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {18},
number = {9},
pages = {876-892},
}