Counterexample to Passivity Preservation for Variable Impedance Control of Compliant Robots

IEEE/ASME Transactions on Mechatronics（2023）

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摘要

Critical technical errors in a recent publication “passivity preservation for variable impedance control of compliant robots” by Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, and Jian S. Dai are highlighted making its contribution questionable. The counterexample provided gives concrete evidence that the theory and analysis in the paper is incorrect.

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Control engineering,asymptotic stability,nonlinear systems,robotics

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