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Whole-Body Affordances for Humanoid Robots: A Computational Approach


Author: Kaiser, Peter
Source: Directory of Open Access Books
Publisher: KIT Scientific Publishing
ISBN: 9783731507987
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Description
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.