A systematic benchmark shows ADMM-based dual solvers outperform projected Gauss-Seidel style solvers on ill-conditioned rigid-body systems with kinematic loops, especially under large mass ratios.
Optimal design of robotic character kinematics,
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On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops
A systematic benchmark shows ADMM-based dual solvers outperform projected Gauss-Seidel style solvers on ill-conditioned rigid-body systems with kinematic loops, especially under large mass ratios.