Using learned affordances for robotic behavior development

Download

index.pdf

Date

2008-09-18

Author

Doǧar, Mehmet R.
Ugur, Emre
Şahin, Erol
Çakmak, Maya

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

154
views

149
downloads

“Developmental robotics” proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. These robots should be equipped with behaviors that are simple but enough to bootstrap the system. Then, as the robot interacts with its environment, it should display increasingly complex behaviors. In this paper, we propose such a development scheme for a mobile robot. J.J. Gibson’s concept of “affordances” provides the basis of this development scheme, and we use a formalization of affordances to make the robot learn about the dynamics of its interactions with its environment. We show that an autonomous robot can start with pre-coded primitive behaviors, and as it executes its behaviors randomly in an environment, it can learn the affordance relations between the environment and its behaviors. We then present two ways of using these learned structures, in achieving more complex, intentional behaviors. In the first case, the robot still uses its pre-coded primitive behaviors only, but the sequencing of these primitive behaviors are such that new more complex behaviors emerge. In the second case, the robot makes a “blending” of its pre-coded primitive behaviors to create new behaviors that can be more effective in reaching its goal than any of the pre-coded behaviors.

URI

https://hdl.handle.net/11511/38871

DOI

https://doi.org/10.1109/robot.2008.4543794

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Using learned affordances for robotic behavior development Doğar, Mehmet Remzi; Şahin, Erol; Department of Civil Engineering (2007) “Developmental robotics” proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. A robot should go through cognitive development just like an animal baby does. These robots should be equipped with behaviors that are simple but enough to bootstrap the system. Then, as the robot interacts with its environment, it should display increasingly complex behaviors. Studies in developmental psychology and neurophysiology provid...
Development of a desktop robot for robotics education Sekmen, A; Koku, Ahmet Buğra (2002-07-18) The lack of easily constructible, programmable, and extendable robotics environments is a big obstacle that prevents educational robotics from growing faster. Most of the time, students need to deal with hardware interfacing and integration, low-level programming for hardware control, and software integration. This usually causes the loss of students' valuable time that they could spend on designing and implementing their own algorithms. This fact led us to seek ways of developing a hardware/software enviro...
A developmental framework for learning affordances Uğur, Emre; Şahin, Erol; Öztop, Erhan; Department of Computer Engineering (2010) We propose a developmental framework that enables the robot to learn affordances through interaction with the environment in an unsupervised way and to use these affordances at different levels of robot control, ranging from reactive response to planning. Inspired from Developmental Psychology, the robot’s discovery of action possibilities is realized in two sequential phases. In the first phase, the robot that initially possesses a limited number of basic actions and reflexes discovers new behavior primiti...
Exploring design requirements for educational robots used in K-12 education from educator’s perspective Gürkanlı, Cengiz Hakan; Töre Yargın, Gülşen; Department of Industrial Design (2018) Robotics field has broad application in human society and design space of robots even broader. In the last decades, robots were started to be used for various purposes after their first examples in industrial settings. Use of robots in various human work domains provide multiple benefits over other technological devices. Education is one of the challenging primary fields in which robots offer advantages over other technologies. Unlike other fields of robotics which requires advanced programming architecture...
A behavior based robot control system architecture for navigation environments with randomly allocated walls Altuntaş, Berrin; Alpaslan, Ferda Nur; Department of Computer Engineering (2003) Integration of knowledge to the control system of a robot is the best way to emerge intelligence to robot. The most useful knowledge for a robot control system that aims to visit the landmarks in an environment is the enviromental knowledge. The most natural representation of the robot2s environment is a map. This study presents a behavior based robot control system architecture that is based on subsumption and motor schema architectures and enables the robot to construct the map of the environment by using...

Citation Formats

M. R. Doǧar, E. Ugur, E. Şahin, and M. Çakmak, “Using learned affordances for robotic behavior development,” 2008, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38871.