4 papers
Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
Leonardo F. Dos Santos, Elisa G. Vergamini, CÃcero 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…
Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Leonardo F. Dos Santos, CÃcero 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…
Construction of an Impedance Control Test Bench
Elisa G. Vergamini, Leonardo F. Dos Santos, CÃcero 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…
Load-independent Metrics for Benchmarking Force Controllers
Victor Shime, Elisa G. Vergamini, CÃcero 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…