SIA OpenIR  > 水下机器人研究室
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
Department水下机器人研究室
Source PublicationIEEE Transactions on Cognitive and Developmental Systems
ISSN2379-8920
2017
Volume9Issue:2Pages:197-209
Indexed BySCI ; EI
EI Accession number20172503807574
WOS IDWOS:000403459100009
Contribution Rank2
Funding OrganizationState Key Laboratory of Robotics at Shenyang Institute of Automation [2014-Z03] ; National Nature Science Foundation of China [61473207]
KeywordBrain-robot Interaction (Bri) Electroencephalogram (Eeg) Full-body Movement Humanoid Robot Steady-state Visual Evoked Potential (Ssvep) Telepresence Control
AbstractThe 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.
Language英语
WOS HeadingsScience & Technology ; Technology ; Life Sciences & Biomedicine
WOS SubjectComputer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS KeywordBRAIN-COMPUTER INTERFACE ; STEADY-STATE ; SYSTEM ; BCI ; COMMUNICATION ; ENVIRONMENTS ; DESIGN
WOS Research AreaComputer Science ; Robotics ; Neurosciences & Neurology
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20730
Collection水下机器人研究室
Corresponding AuthorLi W(李伟)
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Behavior-Based SSVEP(1551KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhao, Jing]'s Articles
[Li W(李伟)]'s Articles
[Mao, Xiaoqian]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhao, Jing]'s Articles
[Li W(李伟)]'s Articles
[Mao, Xiaoqian]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhao, Jing]'s Articles
[Li W(李伟)]'s Articles
[Mao, Xiaoqian]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.