Whole-Body Affordances for Humanoid Robots: A Computational Approach
Abstract (englisch):
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.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) |
| Publikationstyp | Hochschulschrift |
| Publikationsjahr | 2018 |
| Sprache | Englisch |
| Identifikator | ISBN: 978-3-7315-0798-7 ISSN: 2512-0875 urn:nbn:de:0072-831657 KITopen-ID: 1000083165 |
| Verlag | KIT Scientific Publishing |
| Umfang | X, 245 S. |
| Serie | Karlsruhe Series on Humanoid Robotics ; 4 |
| Art der Arbeit | Dissertation |
| Fakultät | Fakultät für Informatik (INFORMATIK) |
| Institut | Institut für Anthropomatik und Robotik (IAR) |
| Prüfungsdatum | 21.12.2017 |
| Schlagwörter | Robotik, Humanoide Robotik, Perzeption, Kognition, Manipulation,, robotics, humanoid robotics, perception, cognition, manipulation |
| Referent/Betreuer | Asfour, T. |