A direct perception for decision making of a service robot

Recently, an intelligent robot is expected to operate our living area. To realize, a robot should make a decision for action from a simple order by human. For decision making of a robot, it is important that a perception of environmental situation and adaptation to the preference of a person. We have proposed the learning method based on bottom-up process using SOM and top-down process using Fuzzy Inference. Through experiments by simulation, we verified that the proposed method can consider the changing of attribution by time variation. And, we discuss about features of the different proposed method through comparing.