From the paper I am reading I cannot figure out what the variable x[sub]j[/sub] represents in the equation for the inertia tensor;
[attachment=5379:inertia_tensor.gif]
and it does not help that I am still generally confused about the formulas... In any case, M[sub]i[/sub] represent the inertia tensor matrix for the i'th body part and m[sub]i[/sub] the mass of that body part.
To be specific, I am wondering what you think that equation suggests I should be using as values for x[sub]j[/sub], center of mass for the individual body parts? Does it treat the body part as a particle with a certain mass or as a volume?
I do not expect anyone to read through the entire paper - I'll of course provide any clarifications/elaborations, but, If you still wish to take a look the paper can be found here;
with the equation in question at page 8.
Cheers!