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Whole-Body Affordances for Humanoid Robots: A Computational Approach
- Format:
- Book
- Author/Creator:
- Kaiser, Peter
- Series:
- Karlsruhe Series on Humanoid Robotics
- Language:
- English
- Physical Description:
- 1 online resource (X, 245 p. p.)
- Other Title:
- Whole-Body Affordances for Humanoid Robots
- Place of Publication:
- KIT Scientific Publishing 2018
- Language Note:
- English
- Summary:
- 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.
- ISBN:
- 1000083165
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