Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2

Pierre Gergondet (1, 2) , Abderrahmane Kheddar (1, 2) , Christoph Hintermüller (3) , Christoph Guger (3) , Mel Slater (4, 5)

1 IDH - Interactive Digital Humans
2 CNRS-AIST JRL - Joint Robotics Laboratory
3 g.tec medical engineering [Autriche]
4 UCL - University College of London [London]
5 ICREA - Institució Catalana de Recerca i Estudis Avançats = Catalan Institution for Research and Advanced Studies

In this paper, we present our approach to design a brain-computer interface (BCI) that allows the user to perform multitask humanoid control. We efficiently integrate techniques from computer vision and the task-function based control together with the brain-computer interface into an immersive and intuitive control application despite the well-known shortcomings of BCI. This approach is assessed in a user experiment involving 4 subjects who successfully controlled the HRP-2 humanoid robot in a scenario involving both grasping tasks and steering. The user experiences and the interface performances are presented and give a rich insight into future research that can be made to improve and extend such interface.

Domaines: Robotique [cs.RO]

Pierre Gergondet, Abderrahmane Kheddar, Christoph Hintermüller, Christoph Guger, Mel Slater. Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2. ISER: International Symposium on Experimental Robotics, Jun 2012, Québec city, Canada. ⟨lirmm-00781275v2⟩