Whole-Body Affordances for Humanoid Robots: A Computational Approach

Download or read book Whole-Body Affordances for Humanoid Robots: A Computational Approach written by Kaiser, Peter and published by KIT Scientific Publishing. This book was released on 2018-08-29 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.