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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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Kaiser, P. 2018. Whole-Body Affordances for Humanoid Robots: A Computational Approach. Karlsruhe: KIT Scientific Publishing. DOI: https://doi.org/10.5445/KSP/1000083165
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Veröffentlicht am 29. August 2018
Englisch
268
| Paperback | 978-3-7315-0798-7 |