This is an internal coordinate multibody dynamics system derived from work done by Kyong-Sok Chang as part of his Ph.D. research at Stanford with advisor Oussama Khatib.
This project was contributed to SimTK by Oussama Khatib, with the help of James Warren. It is based on the robot simulation code developed by Kyong-Sok (KC) Chang as part of his thesis.
Chang, Kyong-Sok; Khatib, Oussama. Efficient Algorithm for Extended Operational Space Inertia Matrix. Proc. 1999 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems.