Simulation

K. Yamane and Y. Nakamura: “Comparative Study on Serial and Parallel Forward Dynamics Algorithms for Kinematic Chains,” International Journal of Robotics Research, vol. 28, pp. 622-629, 2009. [Publisher site]

K. Yamane, Y. Nakamura: “A Numerically Robust LCP Solver for Simulating Articulated Rigid Bodies in Contact,” Robotics: Science and Systems, 2008. [PDF]

K. Yamane and Y. Nakamura: “Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains,” Robotics: Science and Systems, 2007. [PDF]

K. Yamane and Y. Nakamura: “Parallel O(logN) Algorithm for Dynamics Simulation of Humanoid Robots,” IEEE-RAS International Conference on Humanoid Robotics, pp. 554-559, 2006. [PDF]

Y. Nakamura and K. Yamane: “Dynamics Computation of Structure-Varying Kinematic Chains and Its Application to Human Figures,” IEEE Transactions on Robotics and Automation, vol.16, no.2, pp.124-134, 2000. [PDF]