ResearchBenchmarksJoint Velocity Control on Joint Velocity Control Dynamics change (without retraining)Follow0.105NRMSEiFIR0.103360.114430.12550.13657Mar 31, 2026Evaluation ResultsMethodMethodLinksNRMSEImprovement (%)iFIRController Type=iFIR,...Controller Type=iFIR, Passivity Constraint=True2026.030.10528.1PIDController Type=PIDController Type=PID2026.030.146—