Citation

Bouyarmane K, Vaillant J, Sugimoto N, Keith F, Furukawa J, Morimoto J. Front. Syst. Neurosci. 2014; 8: 138.

Affiliation

Computational Neuroscience Laboratories, Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR) Kyoto, Japan.

Copyright

(Copyright © 2014, Frontiers Research Foundation)

DOI

10.3389/fnsys.2014.00138

PMID

25140134

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.

Language: en