Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911306140876800 |
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| author | Santos, Leonardo F. Dos Vergamini, Elisa G. Zanette, Cícero Maitan, Lucca Boaventura, Thiago |
| author_facet | Santos, Leonardo F. Dos Vergamini, Elisa G. Zanette, Cícero Maitan, Lucca Boaventura, Thiago |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06423 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking Santos, Leonardo F. Dos Vergamini, Elisa G. Zanette, Cícero Maitan, Lucca Boaventura, Thiago Robotics Systems and Control 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. |
| title | Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.06423 |