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An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles
Li, Mengfan; Li W(李伟); Niu, Linwei; Zhou, Huihui; Chen, Genshe; Duan F(段峰)
作者部门水下机器人研究室
关键词Brain-robot Interaction (Bri) Event-related Potential (Erp)-based Adaptive Model Live Video Feedback N200 And P300 Potentials Telepresence Control Of Humanoid Robot
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2017
卷号64期号:2页码:1696-1705
收录类别SCI ; EI
EI收录号20171103450003
WOS记录号WOS:000395826100086
产权排序2
资助机构National Natural Science Foundation of China [61473207] ; State Key Laboratory of Robotics at Shenyang Institute of Automation [2014-Z03]
摘要This paper develops an event-related potential (ERP)-based adaptive model for the control of humanoid robot movements in an environment cluttered with obstacles based on live video feedback. This model adaptively determines the repetition number according to an individual's mental state to speed up the robot control cycle. N200 and P300 potential features increase in the frontal and occipital areas when using robot images as visual stimuli, so it is able to effectively recognize target visual stimuli by processing Fisher's linear discriminant analysis (FLDA) and to identify a subject's intention by using support vector machine (SVM), in parallel. The offline evaluations show that, compared with a nonadaptive model, the adaptive model increases the accuracy rate from 88.8% to 92.9%, a change of 4.1%, and the information transfer rate (ITR) from 41.3 to 46.3 bits/min, a change of 5.0 bits/min. Eight subjects participated in telepresence controlling a NAO humanoid robot to move in an office environment cluttered with obstacles. The successful maneuvers demonstrate that the brain-controlled humanoid robot can be applied for surveillance and exploration in unknown environments based on live video feedback, which are evaluated by using new metrics for the performance of the brain-robot interaction (BRI) system.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]BRAIN-COMPUTER INTERFACE ; P300 ; BCI ; GENERATION ; SPELLER ; DESIGN ; SYSTEM ; SIGNAL ; REAL
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20217
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States
4.Department of Mathematics and Computer Science, West Virginia State University, Institute, WV, 25112, United States
5.McGovern Institute for Brain Research, Massachusetts Institute of Technology, Cambridge, MA, 02139, United States
6.Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China
7.Intelligent Fusion Technology, Germantown, MD, 20876, United States
8.Department of Automation and Intelligence Science, College of Computer and Control Engineering, Nankai University, Tianjin, 300071, China
推荐引用方式
GB/T 7714
Li, Mengfan,Li W,Niu, Linwei,et al. An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(2):1696-1705.
APA Li, Mengfan,Li W,Niu, Linwei,Zhou, Huihui,Chen, Genshe,&Duan F.(2017).An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(2),1696-1705.
MLA Li, Mengfan,et al."An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.2(2017):1696-1705.
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