BCI Control of Whole-body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2013

BCI Control of Whole-body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning

Abstract

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.
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Dates and versions

lirmm-00863885 , version 1 (19-09-2013)

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Karim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, François Keith, Jun-Ichiro Furukawa, et al.. BCI Control of Whole-body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning. ICONIP 2013 - 20th International Conference on Neural Information Processing, Nov 2013, Daegu, South Korea. pp.310-318, ⟨10.1007/978-3-642-42054-2_39⟩. ⟨lirmm-00863885⟩
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