Proceedings ArticleDOI
Exploring affordances and tool use on the iCub
Vadim Tikhanoff,Ugo Pattacini,Lorenzo Natale,Giorgio Metta +3 more
- pp 130-137
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TLDR
An approach to the acquisition of affordances and tool use in a humanoid robot combining vision, learning and control is described and learning is structured to enable a natural progression of episodes that include objects, tools, and eventually knowledge of the complete task.Abstract:
One of the recurring challenges in humanoid robotics is the development of learning mechanisms to predict the effects of certain actions on objects. It is paramount to predict the functional properties of an object from “afar”, for example on a table, in a rack or a shelf, which would allow the robot to select beforehand and automatically an appropriate action (or sequence of actions) in order to achieve a particular goal. Such sensory to motor schemas associated to objects, surfaces or other entities in the environment are called affordances [1, 2] and, more recently, they have been formalized computationally under the name of object-action complexes [3] (OACs). This paper describes an approach to the acquisition of affordances and tool use in a humanoid robot combining vision, learning and control. Learning is structured to enable a natural progression of episodes that include objects, tools, and eventually knowledge of the complete task. We finally test the robot's behavior in an object retrieval task where it has to choose among a number of possible elongated tools to reach the object of interest which is otherwise out of the workspace.read more
Citations
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Journal ArticleDOI
Affordances in Psychology, Neuroscience, and Robotics: A Survey
Lorenzo Jamone,Emre Ugur,Angelo Cangelosi,Luciano Fadiga,Alexandre Bernardino,Justus Piater,José Santos-Victor +6 more
TL;DR: The main definitions and formalizations of the affordance theory are discussed, the most significant evidence in psychology and neuroscience that support it are reported, and the most relevant applications of this concept in robotics are reviewed.
Journal ArticleDOI
Affordance Research in Developmental Robotics: A Survey
TL;DR: This survey provides an entry point for interested researchers, including a general overview of affordance research, classification and critical analysis of existing work, and discussion of how affordances are useful in developmental robotics.
Journal ArticleDOI
A Survey of Knowledge Representation in Service Robotics
David Paulius,Yu Sun +1 more
TL;DR: This paper focuses on knowledge representations and notably how knowledge is typically gathered, represented, and reproduced to solve problems as done by researchers in the past decades and the key distinction between such representations and useful learning models that have extensively been introduced and studied in recent years.
Journal ArticleDOI
Computational models of affordance in robotics: a taxonomy and systematic classification:
TL;DR: A taxonomy for computational models of affordances rooted in a comprehensive analysis of the most prominent theoretical ideas of import in the field is defined and a classification of existing research within this proposed taxonomy is provided.
Posted Content
Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight
TL;DR: This work training a model with both a visual and physical understanding of multi-object interactions, and develops a sampling-based optimizer that can leverage these interactions to accomplish tasks, shows that the robot can perceive and use novel objects as tools, including objects that are not conventional tools, while also choosing dynamically to use or not use tools depending on whether or not they are required.
References
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