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Whole-Body Affordances for Humanoid Robots: A Computational Approach
Kaiser, Peter
2018
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The goal of this work is the development of a novel computational formalization of whole-body affordances which is suitable for the multimodal detection and validation of interaction possibilities in unknown environments. The hierarchical framework allows the consistent fusion of affordance-related evidence and can be utilized for realizing shared autonomous control of humanoid robots. The affordance formalization is evaluated in several experiments in simulation and on real humanoid robots.
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Keywords
- Cognition
- humanoid robotics
- Humanoide Robotik
- Kognition
- Manipulation
- Perception
- Perzeption
- robotics
- Robotik
Links
DOI: 10.5445/KSP/1000083165Editions