ABSTRACT
This paper discusses the perceiving-acting cycle for prediction-based perception of a partner robot. The robot should extract human behavior patterns in finite time for natural communication. Actually, the perceptual system must search for meaningful information from the current sensing data within a limited time. Predictive capability is important for it. In addition, the robot should control perceptual modules to extract necessary perceptual information. Furthermore, the perceptual system must search for perceptual information required by a specific action, and the perceptual system and action system restrict each other through the interaction with human. Therefore, the perceptual system for the robot should be based on the perceiving-acting cycle. Actually, the perceiving-acting cycle is defined as a continuously interdependent process of perception and action in spatio-temporal context (Turvey & Shaw, 1999).
