Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking

Authors

Leonardo F. Dos Santos, Elisa G. Vergamini, Cícero Zanette, Lucca Maitan, Thiago Boaventura

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.

Citation

• Journal: 2025 IEEE International Conference on Advanced Robotics (ICAR)
• Year: 2025
• Volume:
• Issue:
• Pages: 390–395
• Publisher: IEEE
• DOI: 10.1109/icar65334.2025.11338640

BibTeX

@inproceedings{Dos_Santos_2025,
  title={{Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking}},
  DOI={10.1109/icar65334.2025.11338640},
  booktitle={{2025 IEEE International Conference on Advanced Robotics (ICAR)}},
  publisher={IEEE},
  author={Dos Santos, Leonardo F. and Vergamini, Elisa G. and Zanette, Cícero and Maitan, Lucca and Boaventura, Thiago},
  year={2025},
  pages={390--395}
}

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