ResearchBenchmarksJoint velocity control on Joint Velocity Control NominalFollow0.092NRMSEiFIR0.089440.106720.1240.14128Mar 31, 2026Evaluation ResultsMethodMethodLinksNRMSEImprovement (%)iFIRController Type=iFIR,...Controller Type=iFIR, Passivity Constraint=True2026.030.09241PIDController Type=PIDController Type=PID2026.030.156—