A Passive Recursive Newton Euler Algorithm and Its Application to Inverse Dynamics under Passivity-based Controller

Abstract

This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the product term of the Coriolis matrix C(q, q) and the reference velocity qref, that is, C(q, q) qref. Two major parts are modified compared to the standard RNE algorithm: 1) matrix-vector factorization in single rigid body dynamics satisfying the skew-symmetric property, and 2) propagation for reference velocity and acceleration in recursive computation. Through simulation, the proposed pRNE algorithm combined with the passivity-based inverse dynamic controller (P-IDC) validates an accurate tracking performance under model uncertainty and disturbance compared to the standard inverse dynamic controller (IDC). © 2025 IEEE.