A P300 Model for Cerebot – A Mind-Controlled Humanoid Robot

  • Mengfan Li
  • Wei Li
  • Jing Zhao
  • Qinghao Meng
  • Ming Zeng
  • Genshe Chen
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 274)


In this paper, we present a P300 model for control of Cerebot – a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior.

We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance.


Mind control P300 model OpenViBE humanoid robot 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Sutton, S., Braren, M., Zubin, J., John, E.R.: Evoked Potential Correlates of Stimulus Uncertainty. Science 150, 1187–1188 (1965)CrossRefGoogle Scholar
  2. 2.
    Smith, D.B.D., Donchin, E., Cohen, L., Starr, A.: Auditory Averaged Evoked Potentials in Man during Selective Binaural Listening. Electroencephalogr. Clin. Neurophysiol. 28, 146–152 (1970)CrossRefGoogle Scholar
  3. 3.
    Farwell, L.A., Donchin, E.: Talking off the Top of Your Head: Toward a Mental Prosthesis Utilizing Event-Related Brain Potentials. Electroencephalogr. Clin. Neurophysiol. 70, 510–523 (1988)CrossRefGoogle Scholar
  4. 4.
    Donchin, E., Spencer, K.M., Wijesinghe, R.: The Mental Prosthesis: Assessing the Speed of a P300-Based Brain-Computer Interface. IEEE Trans. Rehabil. Eng. 8, 174–179 (2000)CrossRefGoogle Scholar
  5. 5.
    Muglerab, E., Benschc, M., Haldera, S., Rosenstielc, W., Bogdancd, M., Birbaumerae, N., Kübleraf, A.: Control of an Internet Browser Using the P300 Event-Related Potential. IJBEM 10, 56–63 (2008)Google Scholar
  6. 6.
    Li, Y., Long, J., Yu, T., Yu, Z., Wang, C., Zhang, H., Guan, C.: An EEG-Based BCI System for 2-D Cursor Control by Combining Mu/Beta Rhythm and P300 Potential. IEEE Trans. Biomed. Eng. 57, 2495–2505 (2010)CrossRefGoogle Scholar
  7. 7.
    Bayliss, J.D.: Use of the Evoked Potential P3 Component for Control in a Virtual Apartment. IEEE Trans. Neural Syst. Rehabil. Eng. 11, 113–116 (2003)CrossRefGoogle Scholar
  8. 8.
    Iturrate, I., Antelis, J.M., Kubler, A., Minguez, J.: A Noninvasive Brain-Actuated Wheelchair Based on a P300 Neurophysiological Protocol and Automated Navigation. IEEE Trans. Robot. 25, 614–627 (2009)CrossRefGoogle Scholar
  9. 9.
    Palankar, M., De Laurentis, K.J., Alqasemi, R., Veras, E., Dubey, R., Arbel, Y., Donchin, E.: Control of a 9-DoF Wheelchair-Mounted Robotic Arm System Using a P300 Brain Computer Interface: Initial Experiments. In: IEEE International Conference on Robotics and Biomimetics, pp. 348–353. IEEE Press, Bangkok (2008)Google Scholar
  10. 10.
    Bell, C.J., Shenoy, P., Chalodhorn, R., Rao, R.P.: Control of a Humanoid Robot by a Noninvasive Brain-Computer Interface in Humans. J. Neural Eng. 5, 214–220 (2008)CrossRefGoogle Scholar
  11. 11.
    Li, W., Jaramillo, C., Li, Y.: A Brain Computer Interface Based Humanoid Robot Control System. In: IASTED International Conference on Robotics, Pittsburgh, pp. 390–396 (2011)Google Scholar
  12. 12.
    Li, W., Jaramillo, C., Li, Y.: Development of Mind Control System for Humanoid Robot through a Brain Computer Interface. In: 2nd International Conference on Intelligent System Design and Engineering Application (ISDEA), pp. 679–682. IEEE Press, Hainan (2012)Google Scholar
  13. 13.
    Ma, Z., Gao, S.: P300-Based Brain-Computer Interface: Effect of Stimulus Intensity on Performance. J. Tsinghua Univ. Nat. Sci. Ed. 48, 415–418 (2008)MathSciNetGoogle Scholar
  14. 14.
    Gonsalvez, C.J., Polich, J.: P300 Amplitude is Determined by Target-to-Target Interval. Psychophysiology 39, 388–396 (2002)CrossRefGoogle Scholar
  15. 15.
    Polich, J., Ellerson, P.C., Cohen, J.: P300, Stimulus Intensity, Modality, and Probability. Int. J. Psychophysiol. 23, 55–62 (1996)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Mengfan Li
    • 1
  • Wei Li
    • 1
    • 2
  • Jing Zhao
    • 1
  • Qinghao Meng
    • 1
  • Ming Zeng
    • 1
  • Genshe Chen
    • 3
  1. 1.Institute of Robotics and Autonomous Systems, School of Electrical Engineering and AutomationTianjin UniversityTianjinChina
  2. 2.Department of Computer & Electrical Engineering and Computer ScienceCalifornia State UniversityBakersfieldUSA
  3. 3.Intelligent Fusion Technology, Inc.GermantownUSA

Personalised recommendations