hort-interactionorinteractionwitharestrictedcontext[7].However,theandroid’ssyste
misnotyetsufcienttorealizeahuman-likenatureinawidersituationbecausetheandroid’sperceptionalfunctionsarenotimplementedorsubstitutedbyanexperimenterinthesestudies.Inordertoclarifytheperceptionalfunctionsrequiredfornaturalcommunication,wetrytorealizehuman-likeperceptionwithanandroid.Thecommunicationabilitiesofrobotshavebeenimprovedbyachievingthesameperceptionashumansusingbuiltinsensors(e.g.,[8]).However,built-insensorshavemanyrestrictionsonrangeandresolution,andcausedifcultissuesfornaturalcommunication.Thereisatechniqueforprovidingperceptionfunctionstotheenvironmentitself,thatis,embeddingsensorsinenvironment[9][10][11].Suchasystemisquitedifferentfromahumanperceptionsystem,butnaturalcommunicationsarepossibleiftherobotpretendstoperceivehumanseventhoughitactuallydoesnot.Inthisresearch,toremovetherestrictionofbuilt-insensorsandtoachievenaturalcommunicationswithhumans,weproposeaquitenewrobotsensorsystem.Thissystemachievesperceptionandandroidactionusingasmanykindsandnumbersofsensorsaspossibleincludingnotonlysensorsembeddedintheenvironmentbutalsobuilt-insensors.Thisiscalleda“sensornetwork”inthispaper.Byaddingvariousandefcientsensorysystemto