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Peter Kaiser

Whole-Body Affordances for Humanoid Robots: A Computational Approach

(Karlsruhe Series on Humanoid Robotics ; 4)

AutorKaiser, Peter

VerlagKIT Scientific Publishing, Karlsruhe

ISBN9783731507987

UmfangX, 245 S.

Veröffentlicht
am:
29.08.2018

Erscheinungs-
jahr
2018

VerfügbarkeitAktiv

Downloads:

Für Zitate bitte die folgende URL verwenden:
http://dx.doi.org/10.5445/KSP/1000083165

Abstract

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.