Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
By: Leonardo F. Dos Santos , Elisa G. Vergamini , Cícero Zanette and more
Potential Business Impact:
Makes robots move more smoothly and safely.
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.
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