Perceptual System and Action System of A Mobile Robot based on Perceiving-Acting Cycle

摘要

In this paper, we propose a control method of a mobile robot based on perceiving-acting cycle discussed in ecological psychology. We apply modular neural networks for realizing action control based on the perceiving-acting cycle. In the proposed method, the perceptual system and action system restrict each other. Next, we conduct several experiments using our developed robot. The experimental results show the robot can learn actions based on the perceiving-acting cycle. Finally, we discuss the units of the action and behavior using modular neural networks for the robotic control.