BCI Control of Whole-Body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning
BCI Control of Whole-Body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning
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DOI：
10.1007/978-3-642-42054-2_39
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
Karim Bouyarmane;Joris Vaillant;Norikazu Sugimoto;François Keith;J. Furukawa;J. Morimoto
中科院分区：
文献类型：
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作者：
Karim Bouyarmane;Joris Vaillant;Norikazu Sugimoto;François Keith;J. Furukawa;J. Morimoto
在本文中，我们展示了耦合的自主规划和控制框架的全身人形运动，与脑机接口（BCI）系统，以实现在线实时偏置和离线计划的运动校正。使用运动前接触规划范例，人形机器人在第一阶段自主地规划其运动以到达期望的目标配置或接触位置。在该方法的第二阶段中，人形机器人执行计划的运动，并且用户可以通过EEG解码接口对正在执行的运动施加在线控制。该方法的应用和演示在一个动力学模拟器上的人形机器人HRP2的模型与完整的碰撞检测。
In this paper we demonstrate the coupling of an autonomous planning and control framework for whole-body humanoid motion, with a brain-computer interface (BCI) system in order to achieve online real-time biasing and correction of the offline planned motion. Using the contact-before-motion planning paradigm, the humanoid autonomously plans, in a first stage, its motion to reach a desired goal configuration or contact location. In the second stage of the approach, the humanoid executes the planned motion and the user can exert online some control on the motion being executed through an EEG decoding interface. The method is applied and demonstrated in a dynamics simulator with full collision-detection on a model of the humanoid robot HRP2.