Information reduction for environment perception of an intelligent robot arm equipped with a 3D range camera

摘要

This paper discusses a perceptual system for intelligent control of a service robot. The robot should be able to perceive the environment flexibly to realize intelligent behaviors. We focus on the perceptual system based on the perceiving-acting cycle discussed in ecological psychology. We propose a perceptual system composed of the retinal model and the spiking-neural network to realize concept of the perceiving-acting cycle. The proposed method is applied to the robot arm equipped with a 3D-range camera. This proposed method reduces the staggering volumes of information to 4.2%. As experimental results, we show that the integrated perceptual system can adapt effectively in the dynamic environment.