© 2019

Cognitive Reasoning for Compliant Robot Manipulation

  • 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


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 127)

Table of contents

  1. Front Matter
    Pages i-xxxiv
  2. Daniel Sebastian Leidner
    Pages 1-24
  3. Daniel Sebastian Leidner
    Pages 25-35
  4. Daniel Sebastian Leidner
    Pages 37-54
  5. Daniel Sebastian Leidner
    Pages 55-76
  6. Daniel Sebastian Leidner
    Pages 77-112
  7. Daniel Sebastian Leidner
    Pages 113-139
  8. Daniel Sebastian Leidner
    Pages 141-163
  9. Daniel Sebastian Leidner
    Pages 165-175
  10. Daniel Sebastian Leidner
    Pages 177-186

About this book


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


Artificial Intelligence 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

Authors and affiliations

  1. 1.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany

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