Abstract
This paper proposes a method for scheduling parallel forward dynamics simulation of complex human skeleton models. The method is applicable to several parallel algorithms such as Assembly-Disassembly Algorithm and Divide-and-Conquer Algorithm. These algorithms use the Inverse Articulated-Body Interia which can be computed by incrementally adding the joints. The scheduling method utilizes the fact that the joints can be added in any order, and applies A search algorithm to find the order that minimizes the computation time on given number of processors.
