An Event-Related Potential-Based Adaptive Model for Telepresence Control of Humanoid Robot Motion in an Environment Cluttered With Obstacles
文献类型：期刊论文
| 作者 | Li, Mengfan; Li W(李伟) ; Niu, Linwei; Zhou, Huihui; Chen, Genshe; Duan F(段峰)
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 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 |
| 产权排序 | 2 |
| 通讯作者 | 李伟 |
| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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