{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:44Z","timestamp":1777715864153,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,5]]},"abstract":"<jats:p>The main focus of this paper is to investigate the essential differences among four forward dynamics algorithms: the Articulated-Body Algorithm (ABA) and Divide-and-Conquer Algorithm (DCA) by Featherstone; the Constraint Force Algorithm (CFA) by Fijany et al.; and the Assembly\u2014Disassembly Algorithm (ADA) by the present authors. All of the algorithms have O(N) asymptotic complexity for serial computation where N is the number of rigid bodies, and three of them can also be processed in parallel which results in O (log N ) complexity on O (N) processors. We start by summarizing two essential backgrounds of the forward dynamics algorithms, i.e. articulated-body inertias and joint constraint representation. We then present a new formulation of ADA as well as the outlines of the other three algorithms using the same notation. Finally, we perform qualitative as well as quantitative comparisons of the algorithms using our implementations of ABA, CFA, and ADA.<\/jats:p>","DOI":"10.1177\/0278364909102350","type":"journal-article","created":{"date-parts":[[2009,4,14]],"date-time":"2009-04-14T11:42:34Z","timestamp":1239709354000},"page":"622-629","source":"Crossref","is-referenced-by-count":28,"title":["Comparative Study on Serial and Parallel Forward Dynamics Algorithms for Kinematic Chains*"],"prefix":"10.1177","volume":"28","author":[{"given":"Katsu","family":"Yamane","sequence":"first","affiliation":[{"name":"Disney Research, Pittsburgh, PA USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoshihiko","family":"Nakamura","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, University of Tokyo, Tokyo, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.2514\/2.4531"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1080\/08905458708905124"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1080\/08905458708905130"},{"key":"atypb4","volume-title":"Proceedings of SIGGRAPH '96","author":"Baraff, D."},{"key":"atypb5","volume-title":"Proceedings of the IFToMM Seventh World Congress on the Theory of Machines and Mechanisms","author":"Brandl, H."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-74315-8"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066619"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066628"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905054928"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/70.817679"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/70.388780"},{"issue":"4","key":"atypb12","first-page":"511","volume":"38","author":"Rosenthal, D.","year":"1990","journal-title":"The Journal of the Astronautical Sciences"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"atypb14","volume-title":"Simulating and Generating Motions of Human Figures (Springer Tracts in Advanced Robotics)","author":"Yamane, K.","year":"2004"},{"key":"atypb15","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Yamane, K."},{"key":"atypb16","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Yamane, K."},{"key":"atypb17","volume-title":"Proceedings of Robotics: Science and Systems 2007","author":"Yamane, K."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909102350","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909102350","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:41Z","timestamp":1777457801000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364909102350"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2009,5]]}},"alternative-id":["10.1177\/0278364909102350"],"URL":"https:\/\/doi.org\/10.1177\/0278364909102350","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5]]}}}