title: Brain-machine interfacing control of whole-body humanoid motion.
abstract: We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task.
authors.affiliation: Computational Neuroscience Laboratories, Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR) Kyoto, Japan.
authors.forename: Karim
authors.initials: K
authors.lastname: Bouyarmane
authors.affiliation: Laboratoire d'Informatique de Robotique et de Micro-électronique de Montpellier, CNRS-University of Montpellier 2 Montpellier, France ; CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT, National Intitute of Advanced Industrial Science and Technology Tsukuba, Japan.
authors.forename: Joris
authors.initials: J
authors.lastname: Vaillant
authors.affiliation: National Institute of Information and Communications Technology Osaka, Japan.
authors.forename: Norikazu
authors.initials: N
authors.lastname: Sugimoto
authors.affiliation: Laboratoire d'Informatique de Robotique et de Micro-électronique de Montpellier, CNRS-University of Montpellier 2 Montpellier, France ; CNRS-AIST Joint Robotics Laboratory, UMI3218/CRT, National Intitute of Advanced Industrial Science and Technology Tsukuba, Japan.
authors.forename: François
authors.initials: F
authors.lastname: Keith
authors.affiliation: Computational Neuroscience Laboratories, Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR) Kyoto, Japan ; Graduate School of Frontier Biosciences, Osaka University Osaka, Japan.
authors.forename: Jun-Ichiro
authors.initials: J
authors.lastname: Furukawa
authors.affiliation: Computational Neuroscience Laboratories, Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR) Kyoto, Japan.
authors.forename: Jun
authors.initials: J
authors.lastname: Morimoto
keywords: brain-machine interfacing; contact support planning; humanoid whole-body control; motion planning; motor imagery; semi-autonomous humanoid