Confutation of the “Counterexample to passivity preservation for variable impedance control of compliant robots”
File(s)
Accepted version
Author(s)
Spyrakos-Papastavridis, Emmanouil
Childs, Peter RN
Dai, Jian S
Type
Journal Article
Abstract
This letter reveals the incorrect argumentation, erroneous mathematical calculations, and misleading observations reported in the article titled “Counterexample to Passivity Preservation for Variable Impedance Control of Compliant Robots” published in volume 28, issue 1 of this journal, in February 2023. All the calculations in the said article are either incorrect or redundant, and this letter apodictically reveals that the peculiar simulation results therein contained were produced from a failure to follow the implementation guidelines delineated in the original publication. This letter further generates a set of examples to confute the so-called “counterexamples,” thereby proving the erroneousness of the article's argumentation. Furthermore, numerous of the incorrect claims contained in the said article stand in stark opposition to results and theories reported in the robotics literature over the last three decades. This letter provides point-to-point refutations of the erroneous comments and calculations contained in all five pages of the article titled “Counterexample to Passivity Preservation for Variable Impedance Control of Compliant Robots” (Medrano-Cerda, 2023), thereby invalidating all its arguments and exposing its want of substantiality to the reader.
Date Issued
2024-12-01
Date Acceptance
2024-03-18
Citation
IEEE-ASME Transactions on Mechatronics, 2024, 29 (6), pp.4023-4032
ISSN
1083-4435
Publisher
Institute of Electrical and Electronics Engineers
Start Page
4023
End Page
4032
Journal / Book Title
IEEE-ASME Transactions on Mechatronics
Volume
29
Issue
6
Copyright Statement
Copyright © 2024 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Identifier
http://dx.doi.org/10.1109/tmech.2024.3382261
Subjects
0906 Electrical and Electronic Engineering
0910 Manufacturing Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status
Published
Date Publish Online
2024-04-18