Featherstone's algorithm is a technique used for computing the effects of forces applied to a structure of joints and links (an "open kinematic chain") such as a skeleton used in ragdoll physics. The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. Brian Mirtich's PhD Thesis has a very clear and detailed description of the algorithm. Baraff's paper "Linear-time dynamics using Lagrange multipliers" has a discussion and comparison of both algorithms.
References Featherstone, R. (1987). Robot Dynamics Algorithms. Boston: Kluwer. ISBN 0-89838-230-0.
External links Featherstone Multibody in Bullet Physics engine Featherstone's algorithm implementation in the Moby rigid body dynamics simulator Source code for implementation of Featherstone's algorithm Description and references Mirtich's Thesis Baraff's Lagrange multiplier method Roy Featherstone's home page