Real-time multibody simulations based on a symbolic erosion process

Boxus, Marine;Fisette, Paul;Docquier, Nicolas
(2026) The 8th international conference on multibody system dynamics — Location: Seville (16.June.2026)

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Abstract
The availability of real-time or fast multibody models is currently a growing need for many scientific and industrial applications. This ranges from the optimisation of walking robots whose algorithmic convergence requires thousands of simulations, to the hardware-in-the-loop control of a railway vehicle semi-active suspension. In this context, the symbolic Robotran software makes the most of the recursive form of the equations to generate the dynamic models of - tree-like or closed loop - multibody systems (MBS) in the most concise way. The goal now is to develop a process uncovering and removing the symbolic equations that have a low impact on the targeted results. We name this process: symbolic erosion. A preliminary result is presented to illustrate the principle and the potential of the method.
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Boxus, M., Fisette, P., & Docquier, N. (2026, June 16). Real-time multibody simulations based on a symbolic erosion process. The 8th international conference on multibody system dynamics, Seville. https://hdl.handle.net/2078.5/277823