Whole-Body Affordances for Humanoid Robots: A Computational Approach
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...
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| Formato: | Libro electrónico |
| Idioma: | Inglés |
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KIT Scientific Publishing
2018
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| Colección: | Karlsruhe Series on Humanoid Robotics
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| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009429747306719 |
| Sumario: | 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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| Descripción Física: | 1 electronic resource (X, 245 p. p.) |
