most citedImpedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control

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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…