Cognitive Reasoning for Compliant Robot Manipulation

by Daniel Sebastian Leidner

Overview

In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic.

It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment

Product Details

ISBN-13:	9783030048570
Publisher:	Springer International Publishing
Publication date:	12/08/2018
Series:	Springer Tracts in Advanced Robotics , #127
Edition description:	1st ed. 2019
Pages:	186
Product dimensions:	6.10(w) x 9.25(h) x (d)

Table of Contents

Introduction.- Fundamentals.- Classifying Compliant Manipulation.- Representations for Compliant Manipulation.- Planning Everyday Manipulation Tasks.- Compliance Parameterization and Task Execution.- Semantic Interpretation of Haptic Feedback.- Applied Intelligent Physical Compliance.- Conclusions.