Task-dependent stiffness selection for compliant whole-body control
Determine principled strategies for selecting and dynamically adapting robot stiffness for specific tasks and interaction scenarios to balance safety, generalization, and performance during compliant whole-body control.
References
Looking forward, a key area for future work is determining how to best select stiffness for a given task.
— SoftMimic: Learning Compliant Whole-body Control from Examples
(Margolis et al., 20 Oct 2025) in Conclusion