Interactive Recognition and Representation of Functionality

摘要

Functionality of an object defines its applicability to a task, In this paper, we introduce a representation for functionality and present a methodology for its recovery. In addition, we introduce force-shape maps as means to integrate and classify the recovered functionality, Since functionality describes an interaction, the representation for an object must include not only its intrinsic (material) but also its functional (how it is used) properties. In order to recover the functionality of an object, we have developed a formalism based on discrete event system theory and on the paradigm of active perception. This formalism allows us to express an investigating task in the form of a finite automaton for controlling and observing the interactions in our task. Our current investigation focuses on manipulatory interactions, and thus far, the functionality of piercing. We envision an expandable system having at its disposal a score of investigative procedures and through them to be able to classify and recognize an object based on its functional attributes.