Cognitive Reasoning for Compliant Robot Manipulation

✍ Scribed by Daniel Sebastian Leidner

• Publisher: Springer International Publishing
• Year: 2019
• Tongue: English
• Leaves: 211
• Series: Springer Tracts in Advanced Robotics 127
• Edition: 1st ed.
• Category: Library

✦ Synopsis

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

✦ Table of Contents

Front Matter ....Pages i-xxxiv
Introduction (Daniel Sebastian Leidner)....Pages 1-24
Fundamentals (Daniel Sebastian Leidner)....Pages 25-35
Classifying Compliant Manipulation (Daniel Sebastian Leidner)....Pages 37-54
Representations for Compliant Manipulation (Daniel Sebastian Leidner)....Pages 55-76
Planning Everyday Manipulation Tasks (Daniel Sebastian Leidner)....Pages 77-112
Compliance Parameterization and Task Execution (Daniel Sebastian Leidner)....Pages 113-139
Semantic Interpretation of Haptic Feedback (Daniel Sebastian Leidner)....Pages 141-163
Applied Intelligent Physical Compliance (Daniel Sebastian Leidner)....Pages 165-175
Conclusions (Daniel Sebastian Leidner)....Pages 177-186

✦ Subjects

Engineering; Robotics and Automation; User Interfaces and Human Computer Interaction