论文标题
机器人任务的负担 - 一项调查
Affordances in Robotic Tasks -- A Survey
论文作者
论文摘要
负担是自主机器人代理必须感知的，以有效与新物体相互作用的关键属性。从历史上看，该概念源自心理学和认知科学中的文献，在这些文献中讨论了一种使定义很难直接转移到对机器人有用的计算规范的方式。这篇评论文章专门针对机器人技术，因此我们从这个角度讨论了相关文献。在这项调查中，我们对文献进行了分类，并试图在不同的方法中找到共同点，以期在机器人技术中应用。我们根据假定的先验知识水平提出了一个分类，该分类是在对特定机器人任务重要的不同负担能力组件之间建立关系的。我们还确定了未来改进的领域，并讨论可能在对机器人技术实践的影响方面可能富有成果的方向。
Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where affordances are discussed in a way that makes it hard for the definition to be directly transferred to computational specifications useful for robots. This review article is focused specifically on robotics, so we discuss the related literature from this perspective. In this survey, we classify the literature and try to find common ground amongst different approaches with a view to application in robotics. We propose a categorisation based on the level of prior knowledge that is assumed to build the relationship among different affordance components that matter for a particular robotic task. We also identify areas for future improvement and discuss possible directions that are likely to be fruitful in terms of impact on robotics practice.
