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
Contributeur : François Keith
<>
Soumis le : vendredi 22 août 2014 - 10:30:09
Dernière modification le : jeudi 24 mai 2018 - 15:59:24
Document(s) archivé(s) le : jeudi 27 novembre 2014 - 13:25:36
