Visual Perception for a Partner Robot Based on Computational Intelligence
Indra Adji Sulistijono*,**, and Naoyuki Kubota***,****
*Dept. of Mechanical Engineering, Graduate School of Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji, Tokyo 192-0397, Japan
**Electronics Engineering Polytechnic Institute of Surabaya - ITS (EEPIS-ITS), Kampus ITS Sukolilo, Surabaya 60111, Indonesia
***Dept. of System Design, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji, Tokyo 192-0397, Japan
****PRESTO, Japan Science and Technology Agency (JST)
We propose computational intelligence for partner robot perception in which the robot requires the capability of visual perception to interact with human beings. Basically, robots should conduct moving object extraction, clustering, and classification for visual perception used in interactions with human beings. We propose total human visual tracking by long-term memory, k-means, self-organizing map, and a fuzzy controller is used for movement output. Experimental results show that the partner robot can conduct the human visual tracking.