Softness is something you also need. Why compliance helps control: information metrics of a passive walker with compliant ankle

This arXiv preprint by Fabio Bonsignorio et al. explores the gap between rigid robots and biological adaptability, proposing a framework that integrates morphological computation into robot design. The authors summarize phase-space volume calculations for inverted-pendulum and passive-dynamic walking models with compliant ankles and knees, deriving standard heel-strike maps to estimate viable phase-space volumes W(γ) using Monte-Carlo and Reproducing Kernel Hilbert Spaces methods. The work highlights how these methods enable deeper analysis of physical intelligence in nature and lays groundwork for modeling partially compliant artificial agents.