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EBOOK
Author Leidner, Daniel Sebastian.
Title Cognitive Reasoning for Compliant Robot Manipulation.
Imprint Cham : Springer International Publishing AG, 2018.

LOCATION CALL # STATUS MESSAGE
 OHIOLINK SPRINGER EBOOKS    ONLINE  
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Author Leidner, Daniel Sebastian.
Series Springer Tracts in Advanced Robotics Ser. ; v. 127
Springer Tracts in Advanced Robotics Ser.
Subject Robots -- Control systems.
Artificial intelligence.
LOCATION CALL # STATUS MESSAGE
 OHIOLINK SPRINGER EBOOKS    ONLINE  
View online
Author Leidner, Daniel Sebastian.
Series Springer Tracts in Advanced Robotics Ser. ; v. 127
Springer Tracts in Advanced Robotics Ser.
Subject Robots -- Control systems.
Artificial intelligence.
Description 1 online resource (211 pages).
Note Print version record.
Contents Intro; Foreword; Preface; Contents; List of Used Symbols and Abbreviations; Symbols; Abbreviations; List of Figures; List of Tables; List of Listings; List of Algorithms; Abstract; 1 Introduction; 1.1 A Survey on Everyday Compliant Manipulation; 1.2 Problem Statement; 1.3 The Concept of Intelligent Physical Compliance; 1.3.1 Representation; 1.3.2 Planning; 1.3.3 Execution; 1.3.4 Interpretation; 1.4 Contributions; 1.5 Outline; 1.6 Publication Note; References; 2 Fundamentals; 2.1 Physical Compliance in AI and Robotics; 2.2 The Humanoid Service Robot Rollin' Justin
2.3 Motion Planning and Generation2.4 Symbolic Planning and Logic Programming; 2.5 Knowledge Representation and Reasoning; References; 3 Classifying Compliant Manipulation; 3.1 Manipulation Taxonomies in Robotics Research; 3.1.1 Related Work; 3.1.2 Investigating Applicable Taxonomies; 3.2 The Compliant Manipulation Taxonomy; 3.2.1 Classification Terms; 3.2.2 Example Actions; 3.2.3 Discussion; 3.3 Classification of Wiping Tasks; 3.3.1 Classification Terms; 3.3.2 Discussion; 3.4 Summary; References; 4 Representations for Compliant Manipulation
4.1 Representing Task Knowledge as Object Properties4.2 Object-Centric Action Representation; 4.2.1 Action Templates; 4.2.2 Action Templates for Compliant Manipulation; 4.3 Representing the Effects of Wiping Actions; 4.4 Representing Wiping Motions; 4.5 Related Work; 4.6 Summary; References; 5 Planning Everyday Manipulation Tasks; 5.1 Symbol Grounding and Semantic Planning; 5.1.1 Object-Centered Hybrid Reasoning; 5.1.2 Backtracking; 5.1.3 Execution; 5.1.4 Discussion; 5.2 Mobile Manipulation; 5.2.1 Reasoning About Reachability; 5.2.2 Whole-Body Motion Planning; 5.2.3 Discussion
5.3 Effect-Space Planning of Wiping Motions5.3.1 Reasoning About Cartesian Wiping Motions; 5.3.2 Generating Whole-Body Joint Motions; 5.3.3 Reachability Extension; 5.3.4 Combined Wiping Actions; 5.3.5 Effect Prediction and Evaluation; 5.3.6 Discussion; 5.4 Related Work; 5.5 Summary; References; 6 Compliance Parameterization and Task Execution; 6.1 Control Strategies for Compliant Interaction; 6.1.1 Impedance Control; 6.1.2 Hierarchical Whole-Body Control; 6.2 Controller Parameterization; 6.2.1 Trajectory Design in Contact; 6.2.2 Controlling the Contact Force; 6.2.3 Discussion
6.3 Execution of Compliant Wiping Motions6.3.1 Scrubbing a Mug with a Sponge; 6.3.2 Skimming a Window with a Window Wiper; 6.3.3 Collecting Shards with a Broom; 6.3.4 Discussion; 6.4 Related Work; 6.5 Summary; References; 7 Semantic Interpretation of Haptic Feedback; 7.1 Effect Inference Based on Haptic Perception; 7.1.1 Contact Estimation; 7.1.2 Effect Inference; 7.1.3 Failure Detection and Recovery; 7.1.4 Discussion; 7.2 Semantic Analysis with OpenEASE; 7.3 Related Work; 7.4 Summary; References; 8 Applied Intelligent Physical Compliance; 8.1 The METERON SUPVIS Justin Experiment
Note 8.2 A Supervised Autonomy UI Based on Action Templates
Summary 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.
ISBN 9783030048587
3030048586
3030048578
9783030048570
9783030048594 (print)
3030048594
ISBN/ISSN 10.1007/978-3-030-04858-7
OCLC # 1122920422
Link Springer eBooks
Additional Format Print version: Leidner, Daniel Sebastian. Cognitive Reasoning for Compliant Robot Manipulation. Cham : Springer International Publishing AG, 2018 9783030048570



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