Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework
Journal Article - Open Access
University of Pennsylvania Philadelphia United States
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Evidence from empirical literature suggests that explainable complex behaviors can be built from structured compositions of explainable component behaviors with known properties. Such component behaviors can be built to directly perceive and exploit affordances. Using six examples of recent research in legged robot locomotion, we suggest that robots can be programmed to effectively exploit affordanceswithout developing explicit internal models of them. We use a generative framework to discuss the examples, because it helps us to separateand thus clarify the relationship betweendescription of affordance exploitation from description of the internal representations used by the robot in that exploitation.
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