Representations for Compliant Manipulation

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


Mental representations of objects, actions, motions and effects are fundamental to many cognitive capabilities of humans. These four types of representations influence each other significantly. In fact, there is evidence that humans maintain the knowledge about actions w. r. t. particular objects and that actions are represented in the human mind by their outcome. This chapter describes similar representations for robotic manipulation that incorporate this reasoning.


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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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