Abstract : We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01057294
Contributor : François Keith
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Submitted on : Friday, August 22, 2014 - 10:30:09 AM
Last modification on : Thursday, March 7, 2019 - 3:20:03 PM
Document(s) archivé(s) le : Thursday, November 27, 2014 - 1:25:36 PM
