Cognitive Reasoning for Compliant Robot Manipulation
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Beschreibung
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
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
Presents advances of the capabilities of service robots by combining AI reasoning methods and control strategies for compliant manipulation Conducts a classification of manipulation tasks to identify the central research questions Investigates how symbolic task descriptions can be translated into meaningful robot commands Applies the developed concept in an actual space robotics mission involving a humanoid robot
Autor*in
Daniel Sebastian Leidner
Themen in »Cognitive Reasoning for Compliant Robot Manipulation«
Cognitive Reasoning Compliant Manipulation Impedance Control Effect-Space Planning Haptic Perception Service Robots Robot manipulation tasks Robotic Wiping Robotic Cleaning German Aerospace Center Programmable humanoid robot Rollin’ Justin