Author's accepted manuscript. Authorship verified as Malcolm C. Smith by the repository and his Cambridge publication list. Accepted manuscript §17, p.24, equation(30), defines passivity through integrated terminal power and discusses the relationship with driving-point impedance. The manuscript is indexed at api.repository.cam.ac.uk/server/api/core/bitstreams/b5b67bb7-a085-4f3e-8fba-f889cb495a3a/content. Published in Annual Review of Control, Robotics, and Autonomous Systems3,361–391(2020).
Accepted manuscript §17, p.25, uses the force–current analogy and defines mechanical impedance as transformed relative velocity divided by force, with admittance its inverse. Check this convention when comparing with a force/velocity definition.

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