Skip to main content
View expanded cover

International Conference on Neural Information Processing

ICONIP 2013: Neural Information Processing pp 310–318Cite as

BCI Control of Whole-Body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning

  • Conference paper

  • 3399 Accesses

Part of the Lecture Notes in Computer Science book series (LNTCS,volume 8226)

Abstract

In this paper we demonstrate the coupling of an autonomous planning and control framework for whole-body humanoid motion, with a brain-computer interface (BCI) system in order to achieve online real-time biasing and correction of the offline planned motion. Using the contact-before-motion planning paradigm, the humanoid autonomously plans, in a first stage, its motion to reach a desired goal configuration or contact location. In the second stage of the approach, the humanoid executes the planned motion and the user can exert online some control on the motion being executed through an EEG decoding interface. The method is applied and demonstrated in a dynamics simulator with full collision-detection on a model of the humanoid robot HRP2.

Keywords

  • Humanoid Whole-Body Control
  • Motor Imagery BMI
  • Motion Planning

This is a preview of subscription content, access via your institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-642-42054-2_39
  • Chapter length: 9 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   89.00
Price excludes VAT (USA)
  • ISBN: 978-3-642-42054-2
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   119.00
Price excludes VAT (USA)
Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Bell, C.J., Shenoy, P., Chalodhorn, R., Rao, R.P.N.: Control of a humanoid robot by a noninvasive brain-computer interface in humans. Journal of Neural Engineering 5, 214–220 (2008)

    CrossRef  Google Scholar 

  2. Gergondet, P., Druon, S., Kheddar, A., Hintermuller, C., Guger, C., Slater, M.: Using Brain-Computer Interface to Steer a Humanoid Robot. In: IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, pp. 192–197 (2011)

    Google Scholar 

  3. Chung, M., Cheung, W., Scherer, R., Rao, R.P.N.: A Hierarchical Architecture for Adaptive Brain-Computer Interfacing. In: Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, vol. 2, pp. 1647–1652 (2011)

    Google Scholar 

  4. Bryan, M., Green, J., Chung, M., Chang, L., Scherery, R., Smith, J., Rao, R.P.N.: An Adaptive Brain-Computer Interface for Humanoid Robot Control. In: 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, pp. 199–204 (2011)

    Google Scholar 

  5. Bouyarmane, K., Kheddar, A.: Humanoid robot locomotion and manipulation step planning. Advanced Robotics 26(10), 1099–1126 (2012)

    CrossRef  Google Scholar 

  6. Noda, T., Sugimoto, N., Furukawa, J., Sato, M., Hyon, S., Morimoto, J.: Brain-controlled exoskeleton robot for bmi rehabilitation. In: 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, pp. 21–27 (2012)

    Google Scholar 

  7. Wolpaw, J.R., McFarland, D.J.: Control of a two-dimensional movement signal by a noninvasive brain-computer interface in humans. Proceedings of the National Academy of Sciences 101(51), 17849–17854 (2004)

    CrossRef  Google Scholar 

  8. Miller, K.J., Schalk, G., Fetza, E.E., den Nijs, M., Ojemanne, J.G., Rao, R.P.N.: Cortical activity during motor execution, motor imagery, and imagery-based online feedback. Proceedings of the National Academy of Sciences (2010)

    Google Scholar 

  9. Kuffner, J.J., Nishiwaki, K., Kagami, S., Inaba, M., Inoue, H.: Footstep Planning Among Obstacles for Biped Robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, vol. 1, pp. 500–505 (2001)

    Google Scholar 

  10. Chestnutt, J., Kuffner, J., Nishiwaki, K., Kagami, S.: Planning Biped Navigation Strategies in Complex Environments. In: IEEE-RAS International Conference on Humanoid Robots, Munich, Germany (2003)

    Google Scholar 

  11. Chestnutt, J., Lau, M., Kuffner, J.J., Cheung, G., Hodgins, J., Kanade, T.: Footstep Planning for the ASIMO Humanoid Robot. In: IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 629–634 (2005)

    Google Scholar 

  12. Kuffner, J.J., Kagami, S., Nishiwaki, K., Inaba, M., Inoue, H.: Dynamically-Stable Motion Planning for Humanoid Robots. Autonomous Robots 12, 105–118 (2002)

    CrossRef  MATH  Google Scholar 

  13. Yamane, K., Kuffner, J., Hodgins, J.K.: Synthesizing Animations of Human Manipulation Tasks. ACM Transactions on Graphics (Proc. SIGGRAPH 2004) 23(3) (August 2004)

    Google Scholar 

  14. Yoshida, E., Kanoun, O., Esteves, C., Laumond, J.P.: Task-driven Support Polygon Reshaping for Humanoids. In: 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, pp. 208–213 (2006)

    Google Scholar 

  15. Yoshida, E., Laumond, J.-P., Esteves, C., Kanoun, O., Sakaguchi, T., Yokoi, K.: Whole-body locomotion, manipulation and reaching for humanoids. In: Egges, A., Kamphuis, A., Overmars, M. (eds.) MIG 2008. LNCS, vol. 5277, pp. 210–221. Springer, Heidelberg (2008)

    CrossRef  Google Scholar 

  16. Hauser, K., Bretl, T., Latombe, J.-C., Harada, K., Wilcox, B.: Motion Planning for legged Robots on Varied Terrain. International Journal of Robotics Research 27(11-12), 1325–1349 (2008)

    CrossRef  Google Scholar 

  17. Bouyarmane, K., Kheddar, A.: Static multi-contact inverse problem for multiple humanoid robots and manipulated objects. In: 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, pp. 8–13 (2010)

    Google Scholar 

  18. Bouyarmane, K., Kheddar, A.: Multi-contact stances planning for multiple agents. In: IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 5546–5353 (2011)

    Google Scholar 

  19. Bouyarmane, K., Kheddar, A.: Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Fransisco, pp. 4414–4419 (2011)

    Google Scholar 

  20. Tomioka, R., Aihara, K.: Classifying matrices with a spectral regularization. In: 24th International Conference on Machine Learning, New York, pp. 895–902 (2007)

    Google Scholar 

  21. Tomioka, R., Muller, K.R.: A regularized discriminative framework for EEG analysis with application to brain-computer interface. NeuroImage 49, 415–432 (2010)

    CrossRef  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ATR Computational Neuroscience Laboratories, Kyoto, 619-0288, Japan

    Karim Bouyarmane, Jun-ichiro Furukawa & Jun Morimoto

  2. CNRS, Montpellier 2 University LIRMM, 34000, Montpellier, France

    Joris Vaillant & Franc̨ois Keith

  3. CNRS-AIST JRL, UMI3218/CRT, Tsukuba, Ibaraki, 305-8568, Japan

    Joris Vaillant & Franc̨ois Keith

  4. National Institute of Information and Communications Technology, Osaka, 565-0871, Japan

    Norikazu Sugimoto

  5. Osaka University, Osaka, 565-0871, Japan

    Jun-ichiro Furukawa

Authors
  1. Karim Bouyarmane
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Joris Vaillant
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Norikazu Sugimoto
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Franc̨ois Keith
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jun-ichiro Furukawa
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jun Morimoto
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Kyungpook National University, 1370 Sankyuk-Dong, Puk-Gu, 702-701, Taegu, Korea

    Minho Lee

  2. The University of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Akira Hirose

  3. Key Laboratory of Complex Systems and Intelligence Science, Chinese Academy of Sciences, Institute of Automation, 100190, Beijing, China

    Zeng-Guang Hou

  4. Sungkyunkwan University, 2066, Seobu-ro, Jangan-gu,, 440-746, Suwon, Korea

    Rhee Man Kil

Rights and permissions

Reprints and Permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Bouyarmane, K., Vaillant, J., Sugimoto, N., Keith, F., Furukawa, Ji., Morimoto, J. (2013). BCI Control of Whole-Body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning. In: Lee, M., Hirose, A., Hou, ZG., Kil, R.M. (eds) Neural Information Processing. ICONIP 2013. Lecture Notes in Computer Science, vol 8226. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-42054-2_39

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-42054-2_39

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-42053-5

  • Online ISBN: 978-3-642-42054-2

  • eBook Packages: Computer ScienceComputer Science (R0)