The learning and use of traversability affordance using range images on a mobile robot

Ugur, Emre
Dogar, Mehmet R.
Cakmak, Maya
Şahin, Erol
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 avoiding contact with non-traversable objects (i.e. boxes, upright cylinders, or lying cylinders in certain orientation), but moving over traversable objects (such as spheres, and lying cylinders in a rollable orientation with respect to the robot) rolling them out of its way. We have shown that for each action approximately 1% of the perceptual features were relevant to determine whether it is afforded or not and that these relevant features are positioned in certain regions of the range image. The experiments are conducted both using a physics-based simulator and on a real robot.
IEEE International Conference on Robotics and Automation


Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13)
This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Ko...
From primitive behaviors to goal-directed behavior using affordances
Doǧar, Mehmet R.; Çakmak, Maya; Uǧur, Emre; Şahin, Erol (2007-12-01)
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 c...
Control of a differentially driven mobile robot using radial basis function based neural networks
Bayar, Gökhan; Konukseven, Erhan İlhan; Buǧra Koku, A. (2008-12-01)
This paper proposes the use of radial basis function neural networks approach to the solution of a mobile robot orientation adjustment using reinforcement learning. In order to control the orientation of the mobile robot, a neural network control system has been constructed and implemented. Neural controller has been charged to enhance the control system by adding some degrees of award. Making use of the potential of neural networks to learn the relationships, the desired reference orientation and the error...
Human aware navigation of a mobile robot in crowded dynamic environments
Hacınecipoğlu, Akif; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019)
As mobile robots start operating in dynamic environments crowded with humans, human-aware and human-like navigation is required to make these robots navigate safely, efficiently and in socially compliant manner. People can navigate in an interactive and cooperative fashion so that, they are able to find their path to a destination even if there is no clear path leading to it. This is clearly a dexterity of humans. But the mobile robots which have to navigate in such environments lack this feature. Even perf...
Moving part recognition and automatic pick and place using an industrial robot
Konukseven, Erhan İlhan (1996-01-01)
Robotics research continuously seeks to improve productivity in manufacturing automation. With the recent advances in the areas of vision and sensing, robots have become a major element of today's industrial world. They have been beneficial in replacing humans not only in tasks at which robots are more efficient but also in those that humans find undesirable because they are strenuous, boring, difficult, or hazardous. IF. the last several yeats, more and more efforts have been put in the integration of mult...
Citation Formats
E. Ugur, M. R. Dogar, M. Cakmak, and E. Şahin, “The learning and use of traversability affordance using range images on a mobile robot,” presented at the IEEE International Conference on Robotics and Automation, Rome, ITALY, 2007, Accessed: 00, 2020. [Online]. Available: