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.

A passive integration strategy for rendering rotational rigid-body dynamics on a robotic simulator / De Stefano, Marco; Artigas, Jordi; Secchi, Cristian. - 2017-(2017), pp. 2806-2812. ((Intervento presentato al convegno 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 tenutosi a can nel 2017.

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