Robots comprising a moveable, multi-element robotic structure which can be operated by means of actuators and a control device, wherein - at least one marked structural element S is defined on the moveable robotic structure with at least one point P s marked on the structural element S, - the robot is designed and set up in such a way that, in an input mode, the robot learns positions POS PS of the point P S and/or postures of the structural element S in a working area of the robot, wherein the user exerts an input force F́ EING to move the robot structure S onto the moveable robot structure, which conveys itself to the point P S as F́ EING,PS and/or which conveys itself to the structural element S as a torque Ḿ EING,S, and - the control device of the robot is designed and set up in such a way that ∘ in the input mode, the actuators are controlled in such a way based on a predetermined virtual 3D grid at least partially filling the working area that the structural element S is moved to the next closest grid point of the 3D grid or into a grid point volume defined around the next closest grid point of the 3D grid by means of a predetermined force F́ GRID (POS PS) depending on the current position POS PS of the point P S in the 3D grid, wherein the point P S of the structure element S remains at this closest grid point or in this grid point volume in the event the following applies: | F́ EING,PS | < | F́ GRID (POS PS)|, and/or ∘ in the input mode, the actuators are controlled based on a predetermined virtual discrete 3D orientation space O in such a way, wherein the 3D orientation space O =: (α i, β j, γ k) with i = 1, 2,..., I, j = 1, 2,... J, k = 1, 2,..., K is defined or definable by predetermined angles α i, β j, γ k, that the structural element S is moved onto the next closest discrete orientation of the 3D orientation space O =: (α i, β j, γ k) by means of a predetermined torque Ḿ O ( Ó R S) depending on the current orientation Ó R S of the structural element S, wherein the structural element S stays in this next closest discrete orientation of the 3D orientation space O in the case the following applies: | Ḿ EING,S | < | Ḿ O ( Ó R S)|. - at least one marked structural element S is defined on the moveable robotic structure with at least one point P s marked on the structural element S, - the robot is designed and set up in such a way that, in an input mode, the robot learns positions POS PS of the point P S and/or postures of the structural element S in a working area of the robot, wherein the user exerts an input force F́ EING to move the robot structure S onto the moveable robot structure, which conveys itself to the point P S as F́ EING,PS and/or which conveys itself to the structural element S as a torque Ḿ EING,S, and - the control device of the robot is designed and set up in such a way that ∘ in the input mode, the actuators are controlled in such a way based on a predetermined virtual 3D grid at least partially filling the working area that the structural element S is moved to the next closest grid point of the 3D grid or into a grid point volume defined around the next closest grid point of the 3D grid by means of a predetermined force F́ GRID (POS PS) depending on the current position POS PS of the point P S in the 3D grid, wherein the point P S of the structure element S remains at this closest grid point or in this grid point volume in the event the following applies: | F́ EING,PS | < | F́ GRID (POS PS)|, and/or ∘ in the input mode, the actuators are controlled based on a predetermined virtual discrete 3D orientation space O in such a way, wherein the 3D orientation space O =: (α i, β j, γ k) with i = 1, 2,..., I, j = 1, 2,... J, k = 1, 2,..., K is defined or definable by predetermined angles α i, β j, γ k, that the structural element S is moved onto the next closest discrete orientation of the 3D orientation space O =: (α i, β j, γ k) by means of a predetermined torque Ḿ O ( Ó R S) depending on the current orientation Ó R S of the structural element S, wherein the structural element S stays in this next closest discrete orientation of the 3D orientation space O in the case the following applies: | Ḿ EING,S | < | Ḿ O ( Ó R S)|. ∘ in the input mode, the actuators are controlled in such a way based on a predetermined virtual 3D grid at least partially filling the working area that the structural element S is moved to the next closest grid point of the 3D grid or into a grid point volume defined around the next closest grid point of the 3D grid by means of a predetermined force F́ GRID (POS PS) depending on the current position POS PS of the point P S in the 3D grid, wherein the point P S of the structure element S remains at this closest grid point or in this grid point volume in the event the following applies: | F́ EING,PS | < | F́ GRID (POS PS)|, and/or ∘ in the input mode, the actuators are controlled based on a predetermined virtual discrete 3D orientation space O in such a way, wherein the 3D orientation space O =: (α i, β j, γ k) with i = 1, 2,..., I, j = 1, 2,... J, k = 1, 2,..., K is defined or definable by predetermined angles α i, β j, γ k, that the structural element S is moved onto the next closest discrete orientation of the 3D orientation space O =: (α i, β j, γ k) by means of a predetermined torque Ḿ O ( Ó R S) depending on the current orientation Ó R S of the structural element S, wherein the structural element S stays in this next closest discrete orientation of the 3D orientation space O in the case the following applies: | Ḿ EING,S | < | Ḿ O ( Ó R S)|.