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


The successful performance of diverse wiping tasks requires dexterous and compliant robots, appropriate motion planning and generation skills to establish desired contact, methods for symbolic planning and logic programming, as well as representations and mechanisms to reason about the components and effects of the actions. These domains form the prerequisites to represent, plan, execute, and interpret compliant manipulation tasks. As such, they are outlined in the following chapter.


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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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