@article{ageometrictaskspaceporthamiltonianformul,
  title = {A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators},
  author = {Federico Califano and Camilla Rota and Riccardo Zanella and Antonio Franchi},
  year = {2025},
  eprint = {2512.14349},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.14349},
}