Brain-machine interfacing control of whole-body humanoid motion

Karim Bouyarmane 1 Joris Vaillant 2 Norikazu Sugimoto 3 François Keith 2 Jun-Ichiro Furukawa 1, 4 Jun Morimoto 1
1 ATR Computational Neuroscience Lab
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 BMI - Department of Brain Machine Interface
4 Osaka University [Osaka]
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.
Keywords : motion planning semi-autonomous humanoid contact support planning motor imagery brain-machine interfacing humanoid whole-body control
Document type :
Journal articles
Complete list of metadatas

Cited literature [35 references]  Display  Hide  Download
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01057294
Contributor : François Keith <>
Submitted on : Friday, August 22, 2014 - 10:30:09 AM
Last modification on : Thursday, March 7, 2019 - 3:20:03 PM
Long-term archiving on: Thursday, November 27, 2014 - 1:25:36 PM

File

2014_fnsys_bouyarmane-brain_ma...
Publisher files allowed on an open archive

Identifiers

Collections

CNRS | IDH | LIRMM | MIPS | UNIV-MONTPELLIER

Citation

Karim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, François Keith, Jun-Ichiro Furukawa, et al.. Brain-machine interfacing control of whole-body humanoid motion. Frontiers in Systems Neuroscience, Frontiers, 2014, 8 (138), pp.001-010. ⟨10.3389/fnsys.2014.00138⟩. ⟨lirmm-01057294⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

321

Files downloads

404

Contact

Informations

CCSD