Classifying Compliant Manipulation

  • Daniel Sebastian LeidnerEmail author
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 127)


This chapter investigates the properties of compliant manipulation tasks in general, and wiping tasks in particular, in order to gain a better understanding of the problem. As a result, a taxonomy shall be presented to build the foundation for the development of suitable representations to plan, execute, and interpret wiping tasks.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

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

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