SYNTHESIS OF HUMAN MOVEMENT—FORWARD SOLUTIONS - Biomechanics and Motor Control of Human Movement - page 222

8.7 CONCLUSIONS

In this chapter, a procedure for generating the equations of motion for a given
model was presented. The method replaces model configuration and gathers
parameters by groups of linked lists. The first element of each list links the
list to other relevant lists in the model. Once these lists are written correctly,
deriving the equations of motion follows the same systematic procedure. This
makes the method more suitable for computer implementation. As for hand
derivation, the only variation from a simple model to a complicated one is
the amount of work involved.

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