Whole-Body Affordances for Humanoid Robots: A Computational Approach

Kaiser, Peter (Autor / Autorin)

978-3-7315-0798-7

KIT Scientific Publishing

29.08.2018

Englisch

268

H 21 cm / B 14,8 cm / 490 g

Softcover

Karlsruhe Series on Humanoid Robotics, Band: 4

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.