ResearchBenchmarksJoint velocity control on Joint Velocity Control Dynamics change (with retraining)Follow0.093NRMSEPID0.092880.093690.09450.09531Mar 31, 2026Evaluation ResultsMethodMethodLinksNRMSEImprovement (%)PIDController Type=PIDController Type=PID2026.030.093—iFIRController Type=iFIR,...Controller Type=iFIR, Passivity Constraint=True2026.030.096-3.2