Cognitive Reasoning for Compliant Robot Manipulation (Springer Tracts in Advanced Robotics) （2019）

Leidner, Daniel Sebastian

Springer Nature Switzerland AG（2018/12発売）

• 製本 Hardcover:ハードカバー版／ページ数 186 p.
• 言語 ENG
• 商品コード 9783030048570
• DDC分類 005.437

Full Description

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

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.