5 citations · 6 across the 5 of their papers we have counts for
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cs.RO2025
Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
Leonardo F. Dos Santos, Elisa G. Vergamini, Cícero Zanette +2
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…
cs.RO2025★ 5 cited
Construction of an Impedance Control Test Bench
Elisa G. Vergamini, Leonardo F. Dos Santos, Cícero Zanette +3
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interactio…