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.
@article{arxiv.2512.06423,
title = {Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking},
author = {Leonardo F. Dos Santos and Elisa G. Vergamini and Cícero Zanette and Lucca Maitan and Thiago Boaventura},
journal= {arXiv preprint arXiv:2512.06423},
year = {2025}
}
Comments
This is the author's version of the paper accepted for publication in the 2025 International Conference on Advanced Robotics (ICAR). The final version will be available at IEEE Xplore