From primitive behaviors to goal-directed behavior using affordances

Doǧar, Mehmet R.
Çakmak, Maya
Uǧur, Emre
Şahin, Erol
In this paper, we studied how a mobile robot equipped with a 3D laser scanner can start from primitive behaviors and learn to use them to achieve goal-directed behaviors. For this purpose, we propose a learning scheme that is based on the concept of "affordances", where the robot first learns about the different kind of effects it can create in the environment and then links these effects with the perception of the initial environment and the executed primitive behavior. It uses these learned relations to create certain effects in the environment and achieve more complex behaviors.


The learning and use of traversability affordance using range images on a mobile robot
Ugur, Emre; Dogar, Mehmet R.; Cakmak, Maya; Şahin, Erol (2007-04-14)
We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the traversability affordance and use it to wander in a room filled with spheres, cylinders and boxes. The results showed that after learning, the robot can wander around...
Goal emulation and planning in perceptual space using learned affordances
Ugur, Emre; Oztop, Erhan; Şahin, Erol (Elsevier BV, 2011-7)
In this paper, we show that through self-interaction and self-observation, an anthropomorphic robot equipped with a range camera can learn object affordances and use this knowledge for planning. In the first step of learning, the robot discovers commonalities in its action-effect experiences by discovering effect categories. Once the effect categories are discovered, in the second step, affordance predictors for each behavior are obtained by learning the mapping from the object features to the effect catego...
Modeling Self-Organized Aggregation in Swarm Robotic Systems
Bayindir, Levent; Şahin, Erol (2009-04-02)
In this paper, we propose a model for the self-organized aggregation of a swarm of mobile robots. Specifically, we use a simple probabilistic finite state automata (PFSA) based aggregation behavior and analyze its performance using both a point-mass and a physics-based simulator and compare the results against the predictions of the model. The results show that the probabilistic model predictions match simulation results and PFSA-based aggregation behaviors with fixed probabilities are unable to generate sc...
Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration
Terzioglu, Yunus; Mutlu, Bilge; Şahin, Erol (2020-01-01)
In this paper, we investigate how collaborative robots, or cobots, typically composed of a robotic arm and a gripper carrying out manipulation tasks alongside human coworkers, can be enhanced with HRI capabilities by applying ideas and principles from character animation. To this end, we modified the appearance and behaviors of a cobot, with minimal impact on its functionality and performance, and studied the extent to which these modifications improved its communication with and perceptions by human collab...
Design and implementation of a device to control a robotic arm by EMG signal
Kandemir, Görkem; Eyüboğlu, Behçet Murat; Department of Electrical and Electronics Engineering (2013)
In this study, an electromyogram (EMG)based human machine interface system is designed and implemented. System acquires EMG signals and processes them to generate commands to control a robotic arm. Different signal processing methodologies are investigated, realized, and compared. The thesis study includes design and implementation of an 8 channels electromyogram data acquisition system which is used to record raw EMG signals from operator’s muscles. The system transfers raw EMG data to control software via...
Citation Formats
M. R. Doǧar, M. Çakmak, E. Uǧur, and E. Şahin, “From primitive behaviors to goal-directed behavior using affordances,” 2007, Accessed: 00, 2020. [Online]. Available: