Read e-book online Towards Affordance-Based Robot Control: International PDF

By Verena V. Hafner, Frédéric Kaplan (auth.), Erich Rome, Joachim Hertzberg, Georg Dorffner (eds.)

ISBN-10: 3540779140

ISBN-13: 9783540779148

Today’s cellular robotic belief is inadequate for performing goal-directedly in unconstrained, dynamic daily environments like a house, a manufacturing facility, or a urban. topic to regulations in bandwidth, laptop strength, and computation time, a robotic has to react to a wealth of dynamically altering stimuli in such environments, requiring fast, selective consciousness to decisive, action-relevant info of excessive present software. strong and normal engineering equipment for successfully and successfully coupling conception, motion and reasoning are unavailable. fascinating functionality, if any, is at the moment simply accomplished by means of refined robotic programming exploiting area beneficial properties and specialties, which leaves usual clients no probability of adjusting how the robotic acts.

The objective of this quantity - end result of a GI-Dagstuhl Seminar held in Dagstuhl fortress in June 2006 - is to offer a primary review at the proposal of affordances for the layout and implementation of self reliant cellular robots performing goal-directedly in a dynamic setting. the purpose is to strengthen affordance-based keep watch over as a style for robotics. the possibility of this new method can be proven through going past navigation-like initiatives in the direction of goaldirected self reliant manipulation within the undertaking demonstrators.

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Read Online or Download Towards Affordance-Based Robot Control: International Seminar, Dagstuhl Castle, Germany, June 5-9, 2006. Revised Papers PDF

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Additional info for Towards Affordance-Based Robot Control: International Seminar, Dagstuhl Castle, Germany, June 5-9, 2006. Revised Papers

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10(a)), we observe the hand move toward the target or make a slight curve. In an “obstructed” condition, we observe curved trajectories around an obstacle (obs) shown as a circle in Fig. 10(b). , “retract hand”, “push”) for both conditions. Figure 9 illustrates how salient motion features are selected and associated with a nodes after the training and how the causal strength between a and s nodes is established. The grey nodes with two branching arrows at the bottom of Fig. 9(a) are hand motion features, each of which indicates how the hand moves (solid arrows) relative to the directional vector to the target (dotted arrows).

Htm 14. : Semantische dreidimensionale Karten f¨ ur autonome mobile Roboter. PhD thesis, Bonn University, Inst. f. Informatics (May 2006) 15. : Extracting drivable surfaces in outdoor 6D SLAM. In: ISR 2006. 7nd Intl. Symposium on Robotics and 4th German Conf. Robotik 2006 (2006) 16. : Introduction to Autonomous Mobile Robots. MIT Press, Cambridge, MA (2004) 17. : Stanley: The robot that won the DARPA Grand Challenge. J. Field Robotics 23(9), 661–692 (2006) 18. : 2D Mapping of Cluttered Indoor Environments by Means of 3D Perception.

We note that si1 includes all cases where the angle between (h, t) and (h, obs) is more than 90 degrees, as well as when no obs is present. We use the learned models to evaluate the likelihood of two test sequences shown in Fig. 11(a) using Eq. 3. Both sequences are 20 frames long showing a hand reaching for a target object without any obstacle. Figure 11(b) shows the negative log-likelihood of the observed events (straight and curved tracks), given the trained models of “reach for” (with and without obstruction).

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Towards Affordance-Based Robot Control: International Seminar, Dagstuhl Castle, Germany, June 5-9, 2006. Revised Papers by Verena V. Hafner, Frédéric Kaplan (auth.), Erich Rome, Joachim Hertzberg, Georg Dorffner (eds.)


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