Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking

Abstract

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.

arXiv commentThis is the author's version of the paper accepted for publication in the 2025 International Conference on Advanced Robotics (ICAR). The final version will be available at IEEE Xplore