Whole-Body Affordances for Humanoid Robots: A Computational Approach

• Tác giả: Peter Kaiser
• Ngôn ngữ: eng
• ISBN-13: 978-3731507987
• ISBN: KSP/1000083165
• Ký hiệu phân loại: 004 Data processing || Computer science
• Thông tin xuất bản: Karlsruhe : KIT Scientific Publishing, 2018
• Mô tả vật lý: 1 electronic resource (X, 245 p. p.)
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 232141

Tóm tắt

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.