It is well known that the linear feedback of the quaternion of the attitude error and the angular velocity globally stabilizes the attitude of a rigid body, In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quaternion, thus removing the need for direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a model-based observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem, Simulation results are included to illustrate the theoretical results.