3 papers
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…
eess.SY2025
Load-independent Metrics for Benchmarking Force Controllers
Victor Shime, Elisa G. Vergamini, Cícero Zanette +4
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exos…
eess.SY2025
Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Leonardo F. Dos Santos, Cícero Zanette, Elisa G. Vergamini +2
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant contr…