CHAPTER Bruno_SPRINGER_2015/IDIAP Learning the Stiffness of a Continuous Soft Manipulator from Multiple Demonstrations Bruno, D. Calinon, Sylvain Malekzadeh, M. S. Caldwell, D. G. continuum robots minimal intervention control robot learning Intelligent Robotics and Applications Lecture Notes in Computer Science 9246 185-195 978-3-319-22872-3 2015 Springer Best Paper Award Finalist at ICIRA'2015 http://dx.doi.org/10.1007/978-3-319-22873-0_17 URL 10.1007/978-3-319-22873-0_17 doi Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help in situations where higher forces need to be applied. This paper describes a theoretical framework for learning the desired stiffness characteristics of the robot from multiple demonstrations. The framework is based on a statistical mathematical model for encoding the motion of a continuous manipulator, coupled with an optimal control strategy for learning the best impedance parameters of the manipulator.