Efficient dynamic simulation of robotic systems with hierarchy - Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

In this paper multirate numerical integration techniques are introduced as a tool for simulating robotic systems. In contrast with traditional simulation techniques where a single global tame step i s used, multirate methods seek a gain in ediciency by using larger step sizes fo r the slow varying components and smaller step sizes for components with rapidly changing solut ions. W e argue tha t m a n y robotic sys tems inherently posses different t i m e scales, and therefore can benefit f r o m multirate techniques. W e have developed a multirate version of the popular A d a m s Predictor Corrector methods, which has a variety cf modern features. W e present results o n the accuracy, stability and e f i c i e n c y of the algorithm along with siniulation results.