Publication Date:
2023-12-20
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.
Keywords:
QA75.5-76.95
;
Kognition
;
cognition
;
Manipulation
;
Perzeption
;
robotics
;
Humanoide Robotik
;
humanoid robotics
;
manipulation
;
Robotik
;
perception
;
bic Book Industry Communication::U Computing & information technology::UY Computer science
Language:
English
Format:
image/jpeg