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arXiv · 2512.06423

Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking

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

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Leonardo F. Dos Santos, Elisa G. Vergamini, Cícero Zanette, Lucca Maitan, Thiago Boaventura. 2025-12-06. Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking. https://arxiv.org/abs/2512.06423

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