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Journal of Robotics
Volume 2011 (2011), Article ID 943137, 9 pages
Research Article

A Novel Bioinspired Vision System: A Step toward Real-Time Human-Robot Interactions

1Department of System Design Engineering, Graduate School of Engineering, University of Fukui, Fukui 910-8507, Japan
2Embodiment and Consciousness Unit, Brain Science Institute, BTCC RIKEN, Nagoya 463-0003, Japan
3Research and Education Program for Life Science, University of Fukui, Fukui 910-8507, Japan

Received 2 December 2010; Revised 2 May 2011; Accepted 30 May 2011

Academic Editor: Yuan Zheng

Copyright © 2011 Abdul Rahman Hafiz et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Building a human-like robot that could be involved in our daily lives is a dream of many scientists. Achieving a sophisticated robot's vision system, which can enhance the robot's real-time interaction ability with the human, is one of the main keys toward realizing such an autonomous robot. In this work, we are suggesting a bioinspired vision system that helps to develop an advanced human-robot interaction in an autonomous humanoid robot. First, we enhance the robot's vision accuracy online by applying a novel dynamic edge detection algorithm abstracted from the rules that the horizontal cells play in the mammalian retina. Second, in order to support the first algorithm, we improve the robot's tracking ability by designing a variant photoreceptors distribution corresponding to what exists in the human vision system. The experimental results verified the validity of the model. The robot could have a clear vision in real time and build a mental map that assisted it to be aware of the frontal users and to develop a positive interaction with them.