DocumentCode :
2616538
Title :
An adaptive brain-computer interface for humanoid robot control
Author :
Bryan, Matthew ; Green, Joshua ; Chung, Mike ; Chang, Lillian ; Scherert, Reinhold ; Smith, Joshua ; Rao, Rajesh P N
Author_Institution :
Comput. Sci. & Eng., Univ. of Washington, Seattle, WA, USA
fYear :
2011
fDate :
26-28 Oct. 2011
Firstpage :
199
Lastpage :
204
Abstract :
Recent advances in neuroscience and humanoid robotics have allowed initial demonstrations of brain-computer interfaces (BCIs) for controlling humanoid robots. However, previous BCIs have relied on higher-level control based on fixed pre-wired behaviors. On the other hand, low-level control can be tedious, imposing a high cognitive load on the BCI user. To address these problems, we previously proposed an adaptive hierarchical approach to brain-computer interfacing: users teach the BCI system new skills on-the-fly; these skills can later be invoked directly as high-level commands, relieving the user of tedious control. In this paper, we explore the application of hierarchical BCIs to the task of controlling a PR2 humanoid robot and teaching it new skills. We further explore the use of explicitly-defined sequences of commands as a way for the user to define a more complex task involving multiple state spaces. We report results from three subjects who used a hierarchical electroencephalogram (EEG)-based BCI to successfully train and control the PR2 humanoid robot in a simulated household task maneuvering the robot´s arm to pour milk over a bowl of cereal. We present the first demonstration of training a hierarchical BCI for a non-navigational task. This is also the first demonstration of using one to train a more complex task involving multiple state spaces.
Keywords :
brain-computer interfaces; electroencephalography; humanoid robots; BCI; PR2 humanoid robot; adaptive brain-computer interface; fixed pre-wired behaviors; hierarchical electroencephalogram-based BCI; higher-level control; humanoid robot control; Dairy products; Grippers; Humanoid robots; Humans; Training; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
ISSN :
2164-0572
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
Type :
conf
DOI :
10.1109/Humanoids.2011.6100901
Filename :
6100901
Link To Document :
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