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Whole-Body Affordances for Humanoid Robots: A Computational Approach

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Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731507987 Year: Volume: 4 Pages: X, 245 p. DOI: 10.5445/KSP/1000083165 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
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Abstract

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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