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Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement
Zhao, Jing; Li W(李伟); Mao, Xiaoqian; Hu, Hong; Niu, Linwei; Chen, Genshe
作者部门水下机器人研究室
关键词Brain-robot Interaction (Bri) Electroencephalogram (Eeg) Full-body Movement Humanoid Robot Steady-state Visual Evoked Potential (Ssvep) Telepresence Control
发表期刊IEEE Transactions on Cognitive and Developmental Systems
ISSN2379-8920
2017
卷号9期号:2页码:197-209
收录类别SCI ; EI
EI收录号20172503807574
WOS记录号WOS:000403459100009
产权排序2
资助机构State Key Laboratory of Robotics at Shenyang Institute of Automation [2014-Z03] ; National Nature Science Foundation of China [61473207]
摘要The challenge to telepresence control a humanoid robot through a steady-state visual evoked potential (SSVEP) based model is to rapidly and accurately control full-body movement of the robot because a subject has to synchronously recognize the complex natural environments based on live video feedback and activate the proper mental states by targeting the visual stimuli. To mitigate this problem, this paper presents a behavior-based hierarchical architecture, which coordinates a large number of robot behaviors using only the most effective five stimuli. We defined and implemented fourteen robot behaviors for motion control and object manipulation, which were encoded through the visual stimuli of SSVEPs, and classified them into four behavioral sets. We proposed switch mechanisms in the hierarchical architecture to coordinate these behaviors and control the full-body movement of a NAO humanoid robot. To improve operation performance, we investigated the individual sensitivities of visual stimuli and allocated the stimuli targets according to frequency-responsive properties of individual subjects. We compared different types of walking strategies. The experimental results showed that the behavior-based SSVEP hierarchical architecture enabled the humanoid robot to complete an operation task, including navigating to an object and picking the object up with a fast operation time and a low chance of collision in an environment cluttered with obstacles.
语种英语
WOS标题词Science & Technology ; Technology ; Life Sciences & Biomedicine
WOS类目Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
关键词[WOS]BRAIN-COMPUTER INTERFACE ; STEADY-STATE ; SYSTEM ; BCI ; COMMUNICATION ; ENVIRONMENTS ; DESIGN
WOS研究方向Computer Science ; Robotics ; Neurosciences & Neurology
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20730
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.State Key Laboratory of Robotics, 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 Math and Computer Science, West Virginia State University, Institute, WV, 25112, United States
5.Intelligent Fusion Technology, Inc, Germantown, MD, 20876, United States
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GB/T 7714
Zhao, Jing,Li W,Mao, Xiaoqian,et al. Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement[J]. IEEE Transactions on Cognitive and Developmental Systems,2017,9(2):197-209.
APA Zhao, Jing,Li W,Mao, Xiaoqian,Hu, Hong,Niu, Linwei,&Chen, Genshe.(2017).Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement.IEEE Transactions on Cognitive and Developmental Systems,9(2),197-209.
MLA Zhao, Jing,et al."Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement".IEEE Transactions on Cognitive and Developmental Systems 9.2(2017):197-209.
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