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Manuscript received January 16, 2026; accepted ;Date of publication ; This work was supported by the National Natural Science Foundation of China (Grant No. 52075320). The authors are with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. (e-mail: jftao@sjtu.edu.cn) Digital Object Identifier
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Achieve energy-consistent parallel simulations of robotic systems with provable passivity guarantees, even with limited computational resources, by using a novel iterative coupling scheme.
