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The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario\u2014a passive planar biped walker.<\/jats:p>","DOI":"10.2478\/v10006-012-0032-7","type":"journal-article","created":{"date-parts":[[2012,6,29]],"date-time":"2012-06-29T14:49:17Z","timestamp":1340981357000},"page":"423-435","source":"Crossref","is-referenced-by-count":1,"title":["A general on-the-fly algorithm for modifying the kinematic tree hierarchy"],"prefix":"10.61822","volume":"22","author":[{"given":"Jakub","family":"St\u0119pie\u0144","sequence":"first","affiliation":[]},{"given":"Andrzej","family":"Pola\u0144ski","sequence":"additional","affiliation":[]},{"given":"Konrad","family":"Wojciechowski","sequence":"additional","affiliation":[]}],"member":"37438","reference":[{"key":"1","first-page":"137","article-title":"Linear-time dynamics using Lagrange multipliers","author":"D. 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