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This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis for the disturbance attenuation problem is considered via thedoi:10.1109/isic.2007.4359794 fatcat:m6ugkttshzb2jgp4adbichrz7y