İnsansı Robotlarda Alet Sağlarlığı Kavramının Kullanımı, Algılanması ve Öğrenilmesi

Humans and some animals use di fferent tools for diff erent aims such as extending reach, amplifying mechanical force, create or augment signal value of social display, camouflage, bodily comfort and e ffective control of fluids. In robotics, tools are mostly used for extending the reach area of a robot. For this aim, the question "What kind of tool is better in which situation?" is very signi cant. The importance of a ffordance concept rises with this question. That is because, di fferent tools aff ord variety of capabilities depending on target objects. Towards the aim of learning tool a ffordances, robots should experience e ffects by applying behaviors on di fferent objects. In this study, our goal is to teach the humanoid robot iCub, the a ffordances of tools by applying di fferent behaviors on a variety of objects and observing the e ffects of these interactions. Using eye camera and Kinect, tool and object features are obtained for each interaction to construct the training data. Success of a behavior depends on the tool features, object position and properties and also the hand that the robot uses the tool with. As a result of the training of each behavior, the robot successfully predicts e ffects of diff erent behaviors and infers the a ffordances when a tool is given and an object is shown. When an a ffordance is requested, the robot can apply the appropriate behavior given a tool and an object, the robot can select the best tool among di fferent tools when a speci fic aff ordance is requested and an object is shown. This study also demonstrates how diff erent positions and properties of objects aff ect the aff ordance and behavior results, and how a ffordance and behavior results are aff ected when a part of a tool is removed, modifi ed or a new part is added. Keywords: A ordance, Tool A ordance, Humanoid Robot, Tool Use.