Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2

Abstract : In this paper, we present our approach to design a brain-computer interface (BCI) that allows the user to perform multitask humanoid control. We efficiently integrate techniques from computer vision and the task-function based control together with the brain-computer interface into an immersive and intuitive control application despite the well-known shortcomings of BCI. This approach is assessed in a user experiment involving 4 subjects who successfully controlled the HRP-2 humanoid robot in a scenario involving both grasping tasks and steering. The user experiences and the interface performances are presented and give a rich insight into future research that can be made to improve and extend such interface.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781275
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Pierre Gergondet, Abderrahmane Kheddar, Christoph Hintermüller, Christoph Guger, Mel Slater. Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2. ISER: International Symposium on Experimental Robotics, Jun 2012, Québec city, Canada. ⟨lirmm-00781275v2⟩

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