Discusses the dynamics computation of structure-varying kinematic chains which imply mechanical link systems whose structure may change from open kinematic chain to closed one and vice versa. The proposed algorithm can handle structure changes in a seamless manner without switching among algorithms for different kinematic chains. The structure-varying kinematic chains are commonly found in computing human motions. The developed computation will provide the general algorithm for the computation of motion and control of humanoid robots and computer graphic human figures.
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Yamane et al. (2003) studied this question.
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