Résumé
We present an interactive dynamic simulator for poly-articulated bodies. We use constraint-based methods to compute contact forces with non-discretized friction, allowing fast simulation. The user can interact with the virtual environment while sensing force feedback through a haptic device. We integrated in our simulator the possibility to design and model an external passive system that allows to absorb shocks generated by impacts. Especially we fixed in simulation a compliant sole under HRP-2 humanoid robot feet. We illustrate our talk by giving a simulation example.