Introducing Affordances into Robot Task Execution

摘要

The concept of affordances as a function-centered view on perception might show to have great potential when being adapted in the field of autonomous robotic systems. Being embedded in the MACS project that aims at evaluating this potential and at proving the usefulness and applicability of affordances, this thesis will tackle the part of developing a robot task execution component as the component of the MACS hybrid robot control architecture that accesses the robot’s actuators. Following the principle of not only using affordances but basing the whole system on that concept, this thesis will provide a clear definition and interpretation of affordances as a relation between environmental features and the capabilities of an agent for action. Based on this definition a task execution component will be designed that defines the three different concepts of behaviors, actions, and tasks. The rationale behind these