Utilize este identificador para referenciar este registo: http://hdl.handle.net/10362/12475
Título: Haptic robot-environment interaction for self-supervised learning in ground mobility
Autor: Baleia, José Rodrigo Ferreira
Orientador: Oliveira, José
Santana, Pedro
Palavras-chave: Autonomous robots
Self-supervised learning
Affordances
Terrain assessment
Depth sensing
Robotic arm
Data de Defesa: 2014
Editora: Faculdade de Ciências e Tecnologia
Resumo: This dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, given sensory data provided by the sensor, and their bendability, perceived by the pan-tilt telescopic arm. The object descriptor, representing the object in memory and used for comparisons with other objects, is rich for a robust comparison and simple enough to allow for fast computations. The output of the memory learning mechanism allied with the haptic interaction point evaluation prioritize interaction points to increase the confidence on the interaction and correctly identifying obstacles, reducing the risk of the robot getting stuck or damaged. If the system concludes that the object is traversable, the environment change detection system allows the robot to overcome it. A set of field trials show the ability of the robot to progressively learn which elements of environment are traversable.
Descrição: Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores
URI: http://hdl.handle.net/10362/12475
Aparece nas colecções:FCT: DEE - Dissertações de Mestrado

Ficheiros deste registo:
Ficheiro Descrição TamanhoFormato 
Baleia_2014.pdf21,25 MBAdobe PDFVer/Abrir


FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Degois 

Todos os registos no repositório estão protegidos por leis de copyright, com todos os direitos reservados.