Contraction Metric Based Safe Reinforcement Learning Force Control for a Hydraulic Actuator with Real-World Training.

Leonardo F. dos Santos

Lucca Maitan Lucas Toschi Cícero Zanette Elisa G. Vergamini Leonardo F. dos Santos Thiago Boaventura Contraction Metric Based Safe Reinforcement Learning Force Control for a Hydraulic Actuator with Real-World Training. 2026 February abs/2602.08977 CoRR https://doi.org/10.48550/arXiv.2602.08977 db/journals/corr/corr2602.html#abs-2602-08977 streams/journals/corr

Elisa G. Vergamini André Vecchione Matheus Aparecido do Carmo Alves Lucas Toschi Cícero Zanette Lucca Maitan Leonardo F. dos Santos Felix M. Escalante Ortega Thiago Boaventura A Comparative Study of Interaction Force Estimation Methods for Transparency Control in Wearable Robots Context. ICAR 2025 29-34 conf/icar/2025 https://doi.org/10.1109/ICAR65334.2025.11338689 db/conf/icar/icar2025.html#VergaminiVATZMSOB25 streams/conf/icar Cícero Zanette Elisa G. Vergamini Lucca Maitan Leonardo F. dos Santos Thiago Boaventura Development of Metrics based on the Impedance Space for the Experimental Evaluation of Hybrid Impedance Controllers. ICAR 2025 47-52 conf/icar/2025 https://doi.org/10.1109/ICAR65334.2025.11338701 db/conf/icar/icar2025.html#ZanetteVMSB25 streams/conf/icar Leonardo F. dos Santos Elisa G. Vergamini Cícero Zanette Lucca Maitan Thiago Boaventura Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking. ICAR 2025 390-395 conf/icar/2025 https://doi.org/10.1109/ICAR65334.2025.11338640 db/conf/icar/icar2025.html#SantosVZMB25 streams/conf/icar Lucca Maitan Elisa G. Vergamini Cícero Zanette Leonardo F. dos Santos Hélio Jacinto da Cruz Neto Thiago Boaventura Nonlinear Disturbance Observer Based Force Control for the Hydraulic Actuator of the HyQ Robot. ICAR 2025 517-522 conf/icar/2025 https://doi.org/10.1109/ICAR65334.2025.11338735 db/conf/icar/icar2025.html#MaitanVZSNB25 streams/conf/icar

Leonardo F. dos Santos Cícero Zanette Elisa G. Vergamini Lucca Maitan Thiago Boaventura The Impedance Space: A Look at Mechanical Impedance Ellipses in 3D. 2025 March abs/2503.17533 CoRR https://doi.org/10.48550/arXiv.2503.17533 db/journals/corr/corr2503.html#abs-2503-17533 streams/journals/corr

Victor Shime Elisa G. Vergamini Cícero Zanette Leonardo F. dos Santos Lucca Maitan Andrea Calanca Thiago Boaventura Load-independent Metrics for Benchmarking Force Controllers. 2025 May abs/2505.08730 CoRR https://doi.org/10.48550/arXiv.2505.08730 db/journals/corr/corr2505.html#abs-2505-08730 streams/journals/corr

Elisa G. Vergamini Leonardo F. dos Santos Cícero Zanette Yecid Moreno Felix M. Escalante Ortega Thiago Boaventura Construction of an Impedance Control Test Bench. 2025 May abs/2505.17278 CoRR https://doi.org/10.48550/arXiv.2505.17278 db/journals/corr/corr2505.html#abs-2505-17278 streams/journals/corr

Leonardo F. dos Santos Elisa G. Vergamini Cícero Zanette Lucca Maitan Thiago Boaventura Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking. 2025 December abs/2512.06423 CoRR https://doi.org/10.48550/arXiv.2512.06423 db/journals/corr/corr2512.html#abs-2512-06423 streams/journals/corr

Felix M. Escalante Ortega Leonardo F. dos Santos Jose Y. Moreno Adriano A. G. Siqueira Marco H. Terra Thiago Boaventura Markovian Transparency Control of an Exoskeleton Robot. 544-551 2023 8 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2022.3226034 db/journals/ral/ral8.html#OrtegaSMSTB23

Leonardo F. dos Santos Felix M. Escalante Ortega Adriano A. G. Siqueira Thiago Boaventura IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator. 2594-2599 2022 CDC https://doi.org/10.1109/CDC51059.2022.9992650 conf/cdc/2022 db/conf/cdc/cdc2022.html#SantosOSB22 Matheus Aparecido do Carmo Alves Andrea Calanca Thiago Boaventura CunhaThiago Boaventura Lucca Maitan Jose Y. Moreno Yecid Moreno Hélio Jacinto da Cruz Neto Felix M. Escalante Ortega Victor Shime Adriano A. G. Siqueira Marco H. Terra Lucas Toschi André Vecchione Elisa G. Vergamini Cícero Zanette