{"ID":2832252,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.06423","arxiv_id":"2512.06423","title":"Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking","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.","short_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...","url_abs":"https://arxiv.org/abs/2512.06423","url_pdf":"https://arxiv.org/pdf/2512.06423v1","authors":"[\"Leonardo F. Dos Santos\",\"Elisa G. Vergamini\",\"Cícero Zanette\",\"Lucca Maitan\",\"Thiago Boaventura\"]","published":"2025-12-06T13:06:01Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}