Compliance Parameterization and Task Execution

Abstract

This chapter tackles the problem of compliance parameterization and task execution. In particular, it investigates how purely kinematically planned tool motions can be converted into context-aware, physically compliant joint motions of the humanoid robot Rollin’ Justin. It describes the concepts and methods that enable a robot to interact compliantly with the environment. It builds on the reasoning methods to generate joint motions for goal-oriented wiping motions. The parameterization and execution of these motions are explained here, in order to achieve the desired effects, i.e. the manipulation of a particular medium.