The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Affordance Perception And Behavior Planning Based on Analytic Hierarchy Process

로봇의 어포던스 지각 과정 및 계층 분석법을 이용한 우선 순위 동작 결정

  • Lee, Geun-Ho (School of Information Science, JAIST (Japan Advanced Institute of Science and Technology)) ;
  • Kwon, Chul-Min (School of Information Science, JAIST (Japan Advanced Institute of Science and Technology)) ;
  • Ikeda, Akihiro (School of Information Science, JAIST (Japan Advanced Institute of Science and Technology)) ;
  • Chong, Nak-Young (School of Information Science, JAIST (Japan Advanced Institute of Science and Technology))
  • Received : 2012.04.23
  • Accepted : 2012.07.04
  • Published : 2012.08.31
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Abstract

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.

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References

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