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A passive integration strategy for rendering rotational rigid-body dynamics on a robotic simulator

By Marco De Stefano, Jordi Artigas and Cristian Secchi


This paper proposes a passive and explicit integrator for simulating a rotational rigid-body dynamics rendered by a robot. Considering the Euler integration method, active energy terms are identified. These sources of energy are due to the external torque and the coupled dynamics which can lead to a non-physical behavior of the simulated dynamics. The proposed method dissipates this energy using a variable damper regulated by an energy observer. The new algorithm guarantees not only passivity but also a consistent energetic integration. The integration method is sustained by simulations and tested on a real-time hardware-in-the-loop simulator

Topics: Control and Systems Engineering, Software, 1707, Computer Science Applications1707 Computer Vision and Pattern Recognition
Publisher: 'Institute of Electrical and Electronics Engineers (IEEE)'
Year: 2017
DOI identifier: 10.1109/IROS.2017.8206111
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