Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control

Author(s)

Dos Santos, Leonardo F. ; Zanette, Cicero ; Vergamini, Elisa G. ; Maitan, Lucca ; Boaventura, Thiago

• Document type: Journal article
• Source: IEEE Latin America Transactions; v. 23, n. 11, p. 9-pg., 2025-11-01.

Abstract

This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches. (AU)

• FAPESP's process: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms
• Grantee: Thiago Boaventura Cunha
• Support Opportunities: Research Grants - Young Investigators Grants
• FAPESP's process: 21/03373-9 - Comparison of hydraulic and electrical actuation systems for robotics
• Grantee: Elisa Gamper Vergamini
• Support Opportunities: Scholarships in Brazil - Master
• FAPESP's process: 23/11407-6 - Implementation and Analysis of Force and Impedance Controllers applied to Legged Robots
• Grantee: Lucca Neves Maitan
• Support Opportunities: Scholarships in Brazil - Master
• FAPESP's process: 21/09244-6 - Impedance controllers benchmark
• Grantee: Leonardo Felipe Lima Santos dos Santos
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)