AUTHOR=Bouyarmane Karim , Vaillant Joris , Sugimoto Norikazu , Keith François , Furukawa Jun-ichiro , Morimoto Jun 

TITLE=Brain-machine interfacing control of whole-body humanoid motion

JOURNAL=Frontiers in Systems Neuroscience

VOLUME=8

YEAR=2014

URL=https://www.frontiersin.org/journals/systems-neuroscience/articles/10.3389/fnsys.2014.00138

DOI=10.3389/fnsys.2014.00138

ISSN=1662-5137

ABSTRACT=<p>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.</p>