Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
复制标题
基于运动意象的双臂机器人远程操作执行操作任务
DOI：
10.1109/tcds.2018.2875052
复制
发表时间：
2019-09-01
影响因子：
5
通讯作者：
Shang, Weiwei
中科院分区：
文献类型：
--
作者：
Liu, Yiliang;Su, Wenbin;Shang, Weiwei
提出了一种基于脑机接口(BCI)的多指手搬运普通物体的双臂机器人遥操作策略。脑机接口是基于人脑的运动想象，利用常见的空间模式方法对滤波后的脑电图仪信号进行分析。根据事件相关的同步/去同步现象，在机器人的任务空间中识别人类意图，并将其分类为相应的参考命令，从而完成由人类思维引导的物体操纵任务。在此基础上，建立了由机械臂动力学和末端执行器与物体之间的几何约束组成的协调双臂的简明动力学模型。为了在任务空间实现最优运动，通过神经动力学优化实现了速度级的冗馀消解。多个实验对象进行了大量的实验，实验结果验证了所提控制策略的有效性。
This paper proposes a brain-computer interface (BCI)-based teleoperation strategy for a dual-arm robot carrying a common object by multifingered hands. The BCI is based on motor imagery of the human brain, which utilizes common spatial pattern method to analyze the filtered electroencephalograph signals. Human intentions can be recognized and classified into the corresponding reference commands in task space for the robot according to phenomena of event-related synchronization/desynchronization, such that the object manipulation tasks guided by human user's mind can be achieved. Subsequently, a concise dynamics consisting of the dynamics of the robotic arms and the geometrical constraints between the end-effectors and the object is formulated for the coordinated dual arm. To achieve optimization motion in the task space, a redundancy resolution at velocity level has been implemented through neural-dynamics optimization. Extensive experiments have been made by a number of subjects, and the results were provided to demonstrate the effectiveness of the proposed control strategy.