用哈密顿理论构建阻抗控制评估新标准，无需力矩传感器。
Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
- 基于哈密顿模型建立因果一致的阻抗系统表示
- 提出可微分的无传感器、时变参考下稳定性判据
- 通过六自由度机械臂与四足腿仿真验证有效性
本文提出基于哈密顿理论的阻抗控制评估指标。构建了笛卡尔空间下质量-弹簧-阻尼系统的因果一致性哈密顿模型，由此推导出一种可微分、不依赖力矩传感器的高阶自由度（n-DoF）无源性条件，适用于时变参考输入。同时定义了一种从空载阶跃响应功率中提取的阻抗保真度指标，用于捕捉动态解耦特性。所提指标在 Gazebo 仿真环境中，通过六自由度机械臂和四足腿系统进行了验证，结果表明该哈密顿框架适用于标准化阻抗控制评估。
原文摘要 · Abstract (English)
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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