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Whole-Body Affordances for Humanoid Robots: A Computational Approach

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Erschienen am 01.08.2018, Auflage: 1. Auflage
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Bibliografische Daten
ISBN/EAN: 9783731507987
Sprache: Englisch
Umfang: 268

Beschreibung

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.