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Record Nr. |
UNINA9910346953303321 |
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Autore |
Kaiser Peter |
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Titolo |
Whole-Body Affordances for Humanoid Robots: A Computational Approach |
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Pubbl/distr/stampa |
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KIT Scientific Publishing, 2018 |
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ISBN |
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Descrizione fisica |
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1 electronic resource (X, 245 p. p.) |
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Collana |
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Karlsruhe Series on Humanoid Robotics |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Sommario/riassunto |
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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. |
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