A manipulator system for providing poured beverages to a user, comprising: a bottle providing device, wherein the bottle providing device comprises at least one defined first position (P1a), wherein a bottle can be arranged on the first position (P1a), and wherein the bottle is filled with a beverage to be poured; a serving vessel providing device, wherein the serving vessel providing device comprises at least one defined second position (P2a), and wherein on the second position (P2a) a serving vessel can be arranged; at least one serving vessel receiving device, wherein the serving vessel receiving device is configured to receive the serving vessel in a third position, and wherein the serving vessel receiving device comprises a recess and at least one protrusion, wherein the recess is configured to receive a lower edge of the serving vessel, and the at least one protrusion is configured to abut a side surface of the serving vessel; and at least one force regulated manipulator, wherein the force regulated manipulator comprises a gripper, and wherein the force regulated manipulator is configured to: gripping a serving vessel by means of the gripper, and move it from the second position to the third position; gripping a bottle by means of the gripper in a first position (P1a) of the bottle providing device, and positioning and orientating the gripped bottle so that at least a portion of the beverage to be poured flows into the serving vessel received by the serving vessel receiving device; and wherein the force regulated manipulator further comprises at least one sensor configured to determine forces in the vertical direction, and wherein the force regulated manipulator is further configured to grip the beverage-filled serving vessel by means of the gripper and handing it over to a user when the manipulator detects a vertical force on the filled serving vessel that exceeds a defined minimum force opposing the weight force, wherein the serving vessel receiving device is configured to receive the serving vessel in the third position in a non-vertical orientation, wherein the longitudinal axis of the serving vessel in the non-vertical orientation encloses an angle with a base plate of at least 20°, preferably at least 30°, and most preferably at least 45°. a bottle providing device, wherein the bottle providing device comprises at least one defined first position (P1a), wherein a bottle can be arranged on the first position (P1a), and wherein the bottle is filled with a beverage to be poured; a serving vessel providing device, wherein the serving vessel providing device comprises at least one defined second position (P2a), and wherein on the second position (P2a) a serving vessel can be arranged; at least one serving vessel receiving device, wherein the serving vessel receiving device is configured to receive the serving vessel in a third position, and wherein the serving vessel receiving device comprises a recess and at least one protrusion, wherein the recess is configured to receive a lower edge of the serving vessel, and the at least one protrusion is configured to abut a side surface of the serving vessel; and at least one force regulated manipulator, wherein the force regulated manipulator comprises a gripper, and wherein the force regulated manipulator is configured to: gripping a serving vessel by means of the gripper, and move it from the second position to the third position; gripping a bottle by means of the gripper in a first position (P1a) of the bottle providing device, and positioning and orientating the gripped bottle so that at least a portion of the beverage to be poured flows into the serving vessel received by the serving vessel receiving device; and wherein the force regulated manipulator further comprises at least one sensor configured to determine forces in the vertical direction, gripping a serving vessel by means of the gripper, and move it from the second position to the third position; gripping a bottle by means of the gripper in a first position (P1a) of the bottle providing device, and positioning and orientating the gripped bottle so that at least a portion of the beverage to be poured flows into the serving vessel received by the serving vessel receiving device; and wherein the force regulated manipulator further comprises at least one sensor configured to determine forces in the vertical direction,