A modular approach to the dynamics of complex multirobot systems

Clifford S. Bonaventura, Kathryn W. Jablokow

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.

Original languageEnglish (US)
Pages (from-to)26-37
Number of pages12
JournalIEEE Transactions on Robotics
Issue number1
StatePublished - Feb 2005

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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