<P>PROBLEM TO BE SOLVED: To provide a humanoid robot capable of interacting in harmony with a visual environment by using legs and arms. <P>SOLUTION: The interacting robot is furnished with a visual sensing means, an operating means and a computing means. This computing means processes an output signal from the visual sensing means to form a proto-object memorized in memory, and the proto-object is at least a three-dimensional position label to express a blob concerned about in an input field of the visual sensing means, forms a hypothesis of an object concerning a category of the object in accordance with estimation of the proto-object in relation with different behavior-specific restriction and is constituted to decide at least one of visual tracing motion of the visual sensing means, motion of a robot fuselage and motion of the operating means. <P>COPYRIGHT: (C)2008,JPO&INPIT 
EVALUATING VISUAL PROTO-OBJECT FOR ROBOT INTERACTION