This paper proposes a new design concept to develop an autonomous robot to have its own empirical measure of the environment. Empirical measure is expected to make the robot into an autonomous and intelligent one without coming across the Frame problems. This paper considers "Invariant" in Affordance theory as an empirical measure. A perception mechanism that would be indispensable to the realization of an empirical measure, is proposed. The mechanism introduces sonar sensing system, perceptual model, information processing system, and learning mechanisms using several ANNs. Computational resutls show that proposed mehcanism has possibilities to satisfy the four conditions.
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