Recursive formalism with a minimal dynamic parameterization for the identification and simulation of multibody systems. Application to the human body (Q697873)

The authors present a multibody dynamics simulation formulation using barycentric parameters with a recursive Newton-Euler procedure. The analysis is stimulated by problems of parameter identification of human body models. The formulation is claimed to be able to significantly reduce the number of arithmetic operations of the widely used Newton-Euler recursive procedure.