An Integrated Perceptual System of Different Perceptual Elements for an Intelligent Robot
Hiroyuki Masuta and Naoyuki Kubota
Department of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan
This paper discusses an integrated perceptual system for intelligent robots. Robots should be able to perceive environments flexibly enough to realize intelligent behavior. We focus on a perceptual system based on the perceiving-acting cycle discussed in ecological psychology. The perceptual system we propose consists of a retinal model and a spiking-neural network realizing the perceiving-acting cycle concept. We apply our proposal to a robot arm with a threedimensional (3D)-range camera. We verified the feasibility of the perceptual system using a single input such as depth or luminance information. Our proposal integrates different perceptual elements for improving the accuracy of perception. Experimental results showed that our proposal perceives the targeted dish accurately by integrating different perceptual elements using the 3D-range camera.
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