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Traversability: A Case Study for Learning and Perceiving Affordances in Robots

机译：可遍历性：机器人学习和感知能力的案例研究

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摘要

The concept of affordances, introduced in psychology by J. J. Gibson, has recently attracted interest in the development of cognitive systems in autonomous robotics. In earlier work (Sahin, Cakmak, Dogar, Ugur, & Uecoluk), we reviewed the uses of this concept in different fields and proposed a formalism to use affordances at different levels of robot control. In this article, we first review studies in ecological psychology on the learning and perception of traversability in organisms and describe how the existence of traversability was judged to exist. We then describe the implementation of one part of the affordance formalism for the learning and perception of traversability affordances on a mobile robot equipped with range sensing ability. Through experiments inspired by ecological psychology, we show that the robot, by interacting with its environment, can learn to perceive the traversability affordances. Moreover, we claim that three of the main attributes that are commonly associated with affordances, that is, affordances being relative to the environment, providing perceptual economy, and providing general information, are simply consequences of learning from the interactions of the robot with the environment.
机译：J. J. Gibson在心理学中引入的可负担性概念最近引起了人们对自动机器人认知系统发展的兴趣。在较早的工作（Sahin，Cakmak，Dogar，Ugur和Uecoluk）中，我们回顾了此概念在不同领域中的使用，并提出了形式化的概念，以在不同级别的机器人控制下使用能力。在本文中，我们首先回顾了关于生态学中对可遍历性的学习和感知的生态心理学研究，并描述了如何判断可遍历性的存在。然后，我们描述了配备有距离感测能力的移动机器人上用于学习和感知可遍历能力的一部分能力形式的实现。通过受生态心理学启发的实验，我们表明机器人通过与环境互动可以学会感知可遍历性。此外，我们声称与赠品通常相关的三个主要属性，即与环境相关的赠品，提供感知经济和提供一般信息，仅仅是从机器人与环境的交互中学习的结果。

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  • 来源
    《Adaptive Behavior》 |2010年第4期|P.258-284|共27页
  • 作者

    Emre Ugur; Erol Sahin;

  • 作者单位

    METU, Department of Computer Engineering, KOVAN Research Laboratory, Ankara, Turkey NICT, Biological ICT Group, Kyoto, Japan ATR, Computational Neuroscience Laboratories, Kyoto, Japan;

    Department of Computer Engineering, Middle East Technical University, Inoenue Bulvar, Ankara, 06531, Turkey;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    affordance; traversability; range image; perception; learning; autonomous robots;

    机译：负担可遍历性范围图像;知觉;学习;自主机器人;

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