{"id":"https://openalex.org/W2108359755","doi":"https://doi.org/10.1177/1059712310370625","title":"Traversability: A Case Study for Learning and Perceiving Affordances in Robots","display_name":"Traversability: A Case Study for Learning and Perceiving Affordances in Robots","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2108359755","doi":"https://doi.org/10.1177/1059712310370625","mag":"2108359755"},"language":"en","primary_location":{"id":"doi:10.1177/1059712310370625","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712310370625","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adaptive Behavior","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11511/47982","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]},{"id":"https://openalex.org/I4210115057","display_name":"Kyoto Research Park","ror":"https://ror.org/028807987","country_code":"JP","type":"archive","lineage":["https://openalex.org/I4210115057"]}],"countries":["JP","TR"],"is_corresponding":true,"raw_author_name":"Emre U\u011fur","raw_affiliation_strings":["METU, Department of Computer Engineering, KOVAN Research\rLaboratory, Ankara, Turkey, NICT, Biological ICT Group, Kyoto, Japan, ATR, Computational Neuroscience Laboratories, Kyoto,\rJapan","METU, Department of Computer Engineering, KOVAN Research#R#Laboratory, Ankara, Turkey, NICT, Biological ICT Group, Kyoto, Japan, ATR, Computational Neuroscience Laboratories, Kyoto,#R#Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"METU, Department of Computer Engineering, KOVAN Research\rLaboratory, Ankara, Turkey, NICT, Biological ICT Group, Kyoto, Japan, ATR, Computational Neuroscience Laboratories, Kyoto,\rJapan","institution_ids":["https://openalex.org/I4210115057"]},{"raw_affiliation_string":"METU, Department of Computer Engineering, KOVAN Research#R#Laboratory, Ankara, Turkey, NICT, Biological ICT Group, Kyoto, Japan, ATR, Computational Neuroscience Laboratories, Kyoto,#R#Japan","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070564886","display_name":"Erol \u015eahi\u0307n","orcid":"https://orcid.org/0000-0002-2993-6879"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Erol \u015eahin","raw_affiliation_strings":["METU, Department of Computer Engineering, KOVAN Research\rLaboratory, Ankara, Turkey, erol@ceng.metu.edu.tr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"METU, Department of Computer Engineering, KOVAN Research\rLaboratory, Ankara, Turkey, erol@ceng.metu.edu.tr","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048165304"],"corresponding_institution_ids":["https://openalex.org/I201799495","https://openalex.org/I4210115057"],"apc_list":null,"apc_paid":null,"fwci":14.5788,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.98846398,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"18","issue":"3-4","first_page":"258","last_page":"284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T14394","display_name":"Cognitive Science and Education Research","score":0.9577000141143799,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9849135875701904},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.7428642511367798},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6349815130233765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.632948637008667},{"id":"https://openalex.org/keywords/ecological-psychology","display_name":"Ecological psychology","score":0.5664359331130981},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5499248504638672},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5087414383888245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.484739750623703},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.4735100567340851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4667508900165558},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3880322575569153},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.3615034222602844},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07098454236984253}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9849135875701904},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7428642511367798},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6349815130233765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.632948637008667},{"id":"https://openalex.org/C63847988","wikidata":"https://www.wikidata.org/wiki/Q3410107","display_name":"Ecological psychology","level":2,"score":0.5664359331130981},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5499248504638672},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5087414383888245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.484739750623703},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.4735100567340851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4667508900165558},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3880322575569153},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.3615034222602844},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07098454236984253},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/1059712310370625","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712310370625","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adaptive Behavior","raw_type":"journal-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/47982","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/47982","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:open.metu.edu.tr:11511/47982","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/47982","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322421","display_name":"Orta Do\u011fu Teknik \u00dcniversitesi","ror":"https://ror.org/014weej12"},{"id":"https://openalex.org/F4320323792","display_name":"Bilkent \u00dcniversitesi","ror":"https://ror.org/02vh8a032"},{"id":"https://openalex.org/F4320332434","display_name":"ExxonMobil Research and Engineering Company","ror":"https://ror.org/01xcepn55"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W31259189","https://openalex.org/W1533544838","https://openalex.org/W1545302199","https://openalex.org/W1583700199","https://openalex.org/W1596641261","https://openalex.org/W1933657216","https://openalex.org/W1969786034","https://openalex.org/W1978096048","https://openalex.org/W1980886912","https://openalex.org/W1981677974","https://openalex.org/W1984889945","https://openalex.org/W1992903142","https://openalex.org/W1996284680","https://openalex.org/W1996312529","https://openalex.org/W2004418354","https://openalex.org/W2008977061","https://openalex.org/W2020951847","https://openalex.org/W2021277572","https://openalex.org/W2023758701","https://openalex.org/W2025919143","https://openalex.org/W2029434782","https://openalex.org/W2031456685","https://openalex.org/W2039565377","https://openalex.org/W2040884411","https://openalex.org/W2055784052","https://openalex.org/W2063126359","https://openalex.org/W2065305787","https://openalex.org/W2080362357","https://openalex.org/W2085224650","https://openalex.org/W2091491717","https://openalex.org/W2092625867","https://openalex.org/W2097012599","https://openalex.org/W2102783898","https://openalex.org/W2113157000","https://openalex.org/W2120962217","https://openalex.org/W2123233965","https://openalex.org/W2123490108","https://openalex.org/W2125715746","https://openalex.org/W2133462743","https://openalex.org/W2148603752","https://openalex.org/W2153383835","https://openalex.org/W2155217025","https://openalex.org/W2155487235","https://openalex.org/W2159860885","https://openalex.org/W2171455680","https://openalex.org/W2965564755","https://openalex.org/W4313371762"],"related_works":["https://openalex.org/W2029262927","https://openalex.org/W2030326659","https://openalex.org/W4213299552","https://openalex.org/W1998841528","https://openalex.org/W2001717817","https://openalex.org/W2091491717","https://openalex.org/W2109777839","https://openalex.org/W2043052833","https://openalex.org/W192667468","https://openalex.org/W2108359755"],"abstract_inverted_index":{"The":[0],"concept":[1,39],"of":[2,18,37,53,71,80,91,94,103,143,171,176],"affordances,":[3,152],"introduced":[4],"in":[5,15,21,40,63,73],"psychology":[6,65],"by":[7,118,126],"J.":[8,9],"Gibson,":[10],"has":[11],"recently":[12],"attracted":[13],"interest":[14],"the":[16,35,67,78,89,95,99,124,135,144,159,174,177,180],"development":[17],"cognitive":[19],"systems":[20],"autonomous":[22],"robotics.":[23],"In":[24,56],"earlier":[25],"work":[26],"(Sahin,":[27],"\u00c7akmak,":[28],"Dogar,":[29],"Ugur,":[30],"&amp;":[31],"\u00dc\u00e7oluk),":[32],"we":[33,59,121,139],"reviewed":[34],"uses":[36],"this":[38,57],"different":[41,51],"fields":[42],"and":[43,69,75,101,164],"proposed":[44],"a":[45,107],"formalism":[46,97],"to":[47,84,133,158],"use":[48],"affordances":[49,105,155],"at":[50],"levels":[52],"robot":[54,109,178],"control.":[55],"article,":[58],"first":[60],"review":[61],"studies":[62],"ecological":[64,119],"on":[66,106],"learning":[68,100,172],"perception":[70,102],"traversability":[72,81,104,136],"organisms":[74],"describe":[76,88],"how":[77],"existence":[79],"was":[82],"judged":[83],"exist.":[85],"We":[86],"then":[87],"implementation":[90],"one":[92],"part":[93],"affordance":[96],"for":[98],"mobile":[108],"equipped":[110],"with":[111,128,151,179],"range":[112],"sensing":[113],"ability.":[114],"Through":[115],"experiments":[116],"inspired":[117],"psychology,":[120],"show":[122],"that":[123,141,147,153],"robot,":[125],"interacting":[127],"its":[129],"environment,":[130,160],"can":[131],"learn":[132],"perceive":[134],"affordances.":[137],"Moreover,":[138],"claim":[140],"three":[142],"main":[145],"attributes":[146],"are":[148,168],"commonly":[149],"associated":[150],"is,":[154],"being":[156],"relative":[157],"providing":[161,165],"perceptual":[162],"economy,":[163],"general":[166],"information,":[167],"simply":[169],"consequences":[170],"from":[173],"interactions":[175],"environment.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":9}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
