Development of Mind Control System for Humanoid Robot through a Brain Computer Interface

摘要

We develop a mind control system for humanoid robot through a brain-computer-interface (BCI), consisting of a 32 channel electroencephalograph (EEG), a humanoid robot, and a CCD camera. We present two types of humanoid robots in the BCI control system: KT-X PC robot with 20 degrees of freedom (DOFs) or NAO H25 robot with 25 DOFs. The CCD camera takes video clips of a subject or an instructor hand postures to identify mental activities when the subject is thinking “turning right,” “turning left,” or “walking forward.” As an initial test, we implement three types of robot walking behaviors: turning right, turning left and walking forward, and report the neural signals correlated to these three mental activities.