An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles

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	An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles
	Li, Mengfan; Li W(李伟); Niu, Linwei; Zhou, Huihui; Chen, Genshe; Duan F(段峰)
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017
卷号	64 期号:2 页码:1696-1705
关键词	Brain-robot interaction (BRI) event-related potential (ERP)-based adaptive model live video feedback N200 and P300 potentials telepresence control of humanoid robot
ISSN号	0278-0046
通讯作者	李伟
产权排序	2
中文摘要	This paper develops an event-related potential (ERP)-based adaptive model for the control of humanoid robot movements in an environment cluttered with obstacles based on live video feedback. This model adaptively determines the repetition number according to an individual's mental state to speed up the robot control cycle. N200 and P300 potential features increase in the frontal and occipital areas when using robot images as visual stimuli, so it is able to effectively recognize target visual stimuli by processing Fisher's linear discriminant analysis (FLDA) and to identify a subject's intention by using support vector machine (SVM), in parallel. The offline evaluations show that, compared with a nonadaptive model, the adaptive model increases the accuracy rate from 88.8% to 92.9%, a change of 4.1%, and the information transfer rate (ITR) from 41.3 to 46.3 bits/min, a change of 5.0 bits/min. Eight subjects participated in telepresence controlling a NAO humanoid robot to move in an office environment cluttered with obstacles. The successful maneuvers demonstrate that the brain-controlled humanoid robot can be applied for surveillance and exploration in unknown environments based on live video feedback, which are evaluated by using new metrics for the performance of the brain-robot interaction (BRI) system.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	BRAIN-COMPUTER INTERFACE ; P300 ; BCI ; GENERATION ; SPELLER ; DESIGN ; SYSTEM ; SIGNAL ; REAL
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000395826100086
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20217]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Li, Mengfan,Li W,Niu, Linwei,et al. An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(2):1696-1705.
APA	Li, Mengfan,Li W,Niu, Linwei,Zhou, Huihui,Chen, Genshe,&Duan F.(2017).An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(2),1696-1705.
MLA	Li, Mengfan,et al."An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.2(2017):1696-1705.