---
publication_id: "OT-2026-000001345"
title: "Techniques for controlling robots using dynamic gain tuning"
published_at: "2026-09-15T19:05:13.118371Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001345"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/163"
  - "g05b19/0426"
  - "g06n3/008"
  - "b25j9/16"
  - "b25j9/163"
---

# Techniques for controlling robots using dynamic gain tuning

## Abstract

One embodiment of a method for controlling a robot includes generating, via a first trained machine learning model, a robot motion and a predicted force associated with the robot motion, determining, via a second trained machine learning model, a gain associated with the predicted force, generating one or more robot commands based on the robot motion and the gain, and causing a robot to move based on the one or more robot commands.