Navigation Assistance for a BCI-controlled Humanoid Robot

被引：0

作者：

Petit, Damien ^{[1
,2
]}

Gergondet, Pierre ^{[1
,2
]}

Cherubini, Andrea ^{[2
]}

Meilland, Maxime ^{[3
]}

Comport, Andrew I. ^{[3
]}

Kheddar, Abderrahmane ^{[1
,2
]}

机构：

[1] CNRS AIST Joint Robot Lab JRL, CRT UMI3218, Tsukuba, Ibaraki, Japan

[2] CNRS UM2 LIRMM, Interact Digital Human Grp, UMR5506, Montpellier, France

[3] Univ Nice Sophia Antipolis, CNRS I3S Lab, Nice, France

来源：

2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2014年

关键词：

BRAIN-COMPUTER INTERFACE; VISUAL-EVOKED POTENTIALS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present an assisted navigation scheme designed to control a humanoid robot via a brain computer interface in order to let it interact with the environment and with humans. The interface is based on the well-known steady-state visually evoked potentials (SSVEP) and the stimuli are integrated into the live feedback from the robot embedded camera displayed on a Head Mounted Display (HMD). One user controlled the HRP-2 humanoid robot in an experiment designed to measure the performance of the new navigation scheme based on visual SLAM feedback. The new navigation scheme performance is tested in an experience where the user is asked to navigate to a certain location in order to perform a task. It results that without the navigation assistance it is much more difficult to reach the appropriate pose for performing the task. The detailed results of the experiments are reported in this paper, and we discuss the possible improvements of our novel scheme.

引用

页码：246 / 251

页数：6

共 16 条

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