Abstract
This thesis proposes an interactive dynamic simulation for multibody systems using constraint-based methods for computing interaction forces with friction. This simulator is a part of a general framework for prototyping called AMELIF. We focus on optimizing the computation of the dynamics to obtain real-time simulations that allow to realize interactive collaborative tasks. We also integrate deformation models in order to, first simulate internal flexibilities of actual robots, and second simulate future robots that will have a deformable skin. Our simulator has been validated through different scenarios for manipulation and posture generation.