2025/12/06 by Santos, Leonardo F. Dos, Vergamini, Elisa G., Zanette, Cícero +2
Engineering · #Control and Stability of Dynamical Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2512.06423
openalex publication_date 2025/12/06 · openalex created_date 2025/12/10 · openalex updated_date 2026/07/28
This work proposes PH-based metrics for benchmarking impedance control. A causality-consistent PH model is introduced for mass-spring-damper impedance in Cartesian space. Based on this model, a differentiable, force-torque sensing-independent, n-DoF passivity condition is derived, valid for time-varying references. An impedance fidelity metric is also defined from step-response power in free motion, capturing dynamic decoupling. The proposed metrics are validated in Gazebo simulations with a six-DoF manipulator and a quadruped leg. Results demonstrate the suitability of the PH framework for standardized impedance control benchmarking.