Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement

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	Behavior-Based SSVEP Hierarchical Architecture for Telepresence Control of Humanoid Robot to Achieve Full-Body Movement
	Li W(李伟); Chen, Genshe ; Niu, Linwei ; Hu, Hong ; Mao, Xiaoqian ; Zhao, Jing
刊名	IEEE Transactions on Cognitive and Developmental Systems
	2017
卷号	9 期号:2 页码:197-209
关键词	Brain-robot interaction (BRI) electroencephalogram (EEG) full-body movement humanoid robot steady-state visual evoked potential (SSVEP) telepresence control
ISSN号	2379-8920
通讯作者	Li W(李伟)
产权排序	2
中文摘要	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.
WOS标题词	Science & Technology ; Technology ; Life Sciences & Biomedicine
类目[WOS]	Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
研究领域[WOS]	Computer Science ; Robotics ; Neurosciences & Neurology
关键词[WOS]	BRAIN-COMPUTER INTERFACE ; STEADY-STATE ; SYSTEM ; BCI ; COMMUNICATION ; ENVIRONMENTS ; DESIGN
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000403459100009
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20730]
专题	沈阳自动化研究所_水下机器人研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China 3.Intelligent Fusion Technology, Inc, Germantown, MD, 20876, United States 4.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, 93311, United States 5.Department of Math and Computer Science, West Virginia State University, Institute, WV, 25112, United States
推荐引用方式 GB/T 7714	Li W,Chen, Genshe,Niu, Linwei,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	Li W,Chen, Genshe,Niu, Linwei,Hu, Hong,Mao, Xiaoqian,&Zhao, Jing.(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	Li W,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.