Whole-Body Affordances for Humanoid Robots: A Computational Approach

• Main Author: Kaiser, Peter (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2018
• Series: Karlsruhe Series on Humanoid Robotics
• Subjects: Kognition; cognition; Manipulation; Perzeption; robotics; Humanoide Robotik; humanoid robotics; manipulation; Robotik; perception
• Online Access: DOAB: download the publication; DOAB: description of the publication

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...