Perceptual system for clearing the table based on the perceiving-acting cycle

This paper discusses a perceptual system for an intelligent service robot based on the Perceiving-Acting Cycle. Recently, various intelligent robots work in real environments such as public facilities, commerce facilities and houses. We are developing an intelligent service robot. The task of this robot is to clear the table in a restaurant. In this environment, the robot must perceive the necessary information from various information to take a flexible action like a human. In this study, we focus on the perceptual system based on perceiving-acting cycle discussed in ecological psychology. First, we propose a retinal model for a 3D-range camera based on human retinal structure, and the information extraction method using a spiking neural network based on perceiving-acting cycle. Next, we apply the proposed method for a task of clearing the table. As an experimental result, we show the proposed method can detect a dish in dynamic environment. We discuss the efficiency of our proposed method.