지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.9
- 수록면
- 182 - 193 (12page)
이용수
초록· 키워드
오류제보하기
This paper presents a new behavior planning scheme for autonomous robots, allowing them to handle various objects used in our daily lives. The key idea underlying the proposed scheme is to use affordance concepts that provide a robot with action possibilities triggered by a relation between the robot and objects around it. Specifically, the robot attempts to find the affordances and to determine the most adequate action among them. Through a series of the perception processes, robot motions can be planned and performed to complete assigned tasks. What is of particular importance from the practical point of view is a decision making capability to determine the best choice by comparing the human’s body characteristics and behavioral patterns as criteria with action possibilities as alternatives. For this, the analytic hierarchy process (AHP) technique is employed to systematically evaluate the correlation between the criteria and the alternatives. Moreover, the alternatives arranged in order of priority through the decision making process enable the robot to have redundant solutions for the assigned task, resulting in flexible motion generation. The effectiveness and validity of the proposed scheme are verified by performing extensive simulations using objects of our daily use.
목차
Abstract
1. 서론
2. 배경 지식
3. 어포던스 지각과 매니퓰레이션
4. AHP 기반 의사 결정
5. 어포던스 지각 기반 파지 기법의 구현과 시뮬레이션 결과
6. 결론
참고문헌
참고문헌 (25)
참고문헌 신청
1. [학술대회논문] - A. Miller / 2003 / Automatic grasp planning using shape primitives / Proc. IEEE Int. Conf. Robotics and Automation : 1824 ~ 1829
2. [학술지(정기간행물)] - M. Moussa / 2004 / Combining expert neural networks using reinforcement feedback for learning primitive grasping behavior / IEEE Trans. Neural Networks 15 (3) : 629 ~ 638
3. [학술대회논문] - J. Aleotti / 2006 / Grasp recognition in virtual reality for robot pregrasp planning by demonstration / Proc. IEEE Int. Conf. Robotics and Automation : 2801 ~ 2806
4. [학술지(정기간행물)] - M. Tenorth / 2011 / Web-enabled robots: robots that use the web as an information / IEEE Robotics and Automation Magazine 18 (2) : 58 ~ 68
5. [학술대회논문] - E. Pacchierotti / 2006 / Design of an office-guide robot for socialinteraction studies / Proc. IEEE/RSJ Int. Conf.Intelligent Robots and Systems : 4965 ~ 4970
2. [학술지(정기간행물)] - M. Moussa / 2004 / Combining expert neural networks using reinforcement feedback for learning primitive grasping behavior / IEEE Trans. Neural Networks 15 (3) : 629 ~ 638
3. [학술대회논문] - J. Aleotti / 2006 / Grasp recognition in virtual reality for robot pregrasp planning by demonstration / Proc. IEEE Int. Conf. Robotics and Automation : 2801 ~ 2806
4. [학술지(정기간행물)] - M. Tenorth / 2011 / Web-enabled robots: robots that use the web as an information / IEEE Robotics and Automation Magazine 18 (2) : 58 ~ 68
5. [학술대회논문] - E. Pacchierotti / 2006 / Design of an office-guide robot for socialinteraction studies / Proc. IEEE/RSJ Int. Conf.Intelligent Robots and Systems : 4965 ~ 4970
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2020-559-001258946