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.
DETAILS
Whole-Body Affordances for Humanoid Robots: A Computational Approach
Dissertationsschrift
Kaiser, Peter
Kartoniert, 268 S.
graph. Darst.
Sprache: Englisch
21 cm
ISBN-13: 978-3-7315-0798-7
Titelnr.: 73025098
Gewicht: 490 g
KIT Scientific Publishing (2018)
Karlsruher Institut für Technologie (KIT Scientific Publishing c/o KIT-Bibliothek
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