Featherstone's algorithm
Featherstone's algorithm is a technique used for computing the effects of forces applied to a structure of joints and links 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. has a very clear and detailed description of the algorithm. Baraff's paper has a discussion and comparison of both algorithms.
