articulatedbody
An articulated body is a system consisting of several rigid bodies (links) connected by joints that allow relative motion. The joints impose geometric and kinematic constraints that determine the overall mobility and reachable configurations of the system. Articulation is a central concept in biomechanics, computer graphics, and robotics, where articulated models are used to represent the movement of complex structures more realistically than a single rigid body.
In biomechanics, the human and animal skeleton is modeled as an articulated chain of bones linked by
Kinematic analysis describes the motion by joint variables. Forward kinematics computes the end-effector pose from known
Applications of articulated bodies span animation and virtual characters, gait analysis, biomechanics research, surgical and industrial