Modeling - Physically-Based Modeling

Articulated Body Simulation

An articulated body which moves in the direction of the large arrow.

Project Overview

By using a structured modeling context, we have developed a much faster and more general implementation of articulated body simulation. The work combines Featherstone-style articulated models with dynamic constraints to create new equations of motion. The algorithm has linear time complexity in the loop-free parts of the articulated system [PFAR96].


Center Sites

Caltech

Lead Researchers

Preston M. Pfarner

Bibliographic References

[PFAR96]P.M. Pfarner, "Fast Implementation of Dynamic Constraints Using Articulated-Body Methods," M.S. Thesis, CS-TR-96-21, Computer Science Department, California Institute of Technology, Pasadena, CA, 1996.

Modeling Bibliography

Full Research Bibliography

Web References

Physically-Based Modeling
Preston Pfarner Thesis Research

Modeling Overview
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