Identification of functional features through observations and interactions

Identification of Functional Features through Observations and Interactions Luca Bogoni Supervised by Ruzena Bajcsy Functionality of an object de nes its purpose in an environment. This thesis introduces a representation for functionality and presents a methodology for the recovery of functional features. The representation for a object must include not only its intrinsic (material) properties but also its functional (how it is used) properties and is de ned in terms of control and observation strategies. In order to recover the functional properties of an object, we have developed a formalism based on Discrete Event System Theory and on the paradigm of Active Perception. This formalism expresses an investigating task in the form of a nite automaton for controlling and observing interactions. The system developed here employs interactive and observational procedures for the extraction of functional features. The experiment performed involve manipulatory interactions for the investigation of the functionality of piercing and chopping. The gathered observations are combined into ForceShape maps and in surfaces identifying the probability of success for particular interactions. The maps integrate multiple observations and describe an interaction with input from di erent sensory modalities; surfaces express the expectation of the interaction as a function of the use of a particular tool. v

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