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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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Whole-Body Affordances for Humanoid Robots: A Computational Approach, Peter Kaiser
- Language
- Released
- 2018
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- Title
- Whole-Body Affordances for Humanoid Robots: A Computational Approach
- Language
- English
- Authors
- Peter Kaiser
- Publisher
- KIT Scientific Publishing
- Publisher
- 2018
- ISBN10
- 3731507986
- ISBN13
- 9783731507987
- Category
- Computers, IT, Programming
- Description
- 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.