The compliant controller allows for the arm's end-effector to easily be moved out of the way of an external force. On the other hand, the standard non-compliant controller is quite stiff, and doesn't allow for much compliance in the movement of the arm. As a result, it can be much less safe for the user to be in close proximity to it.
We hardcode movement of the arm to the left. We see that in the case of the non-compliant controller, this movement is so forceful that it can knock a 2kg basket of towels off of the table. On the other hand, the compliant controller limits the force it applies. The overlay shows how the arm eventually reaches the desired position once the basket is removed.
With just a single hit, the non-compliant controller crushes the can beyond reshaping. On the other hand, with the compliant controller, after multiple hits, the can can still be reshaped back to its original form.
We show that while the non-compliant controller may result in the arm being slightly weaker, it is plenty sufficient for a standard task. Empirically, the teleoperation for this task is also easier for the user as the motors are more forgiving.