Functional features for chopping extracted from observations and interactions

摘要

This article presents the developments of our research for the identification and extraction of functional features through the interactions and observations performed by a robotic system. The ability to identify and extract functional features and the recovery of a representation for a functionality, are fundamental to robotic agents interacting with an unknown and unstructured environment. A functional interpretation characterizes objects with respect to properties which make them useful for specific interactions. A case study involving the functionality of chopping is discussed. Geometric properties of the tools, expressed using superellipses, forces and task description of the interaction are combined into success-histograms and force-shape maps. These descriptions characterize the functional interaction and combine data from different sensory modalities identifying functional features.