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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]
Possibly Related PublicationsThe following publications are possibly variants of this publication: A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic AlgorithmRoy Featherstone. ijrr, 18(9):867-875, 1999. [doi]
The following publications are possibly variants of this publication: