Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin, China
Abstract :
In this paper, we develop a brainwave-based control system for Cerebot, consisting of a humanoid robot and a Cerebus™ Data Acquisition System up to 128 channels. Under the OpenViBE programming environment, the control system integrates OpenGL, OpenCV, WEBOTS, Choregraph, Central software, and user-developed programs in C++ and Matlab. The proposed system is easy to be expanded or upgraded. Firstly, we describe the system structures for off-line analysis of acquired neural signals and for on-line control of a humanoid robot via brainwaves. Secondly, we discuss how to use the toolboxes provided with the OpenViBE environment to design three types of brainwave-based models: SSVEPs, P300s, and mu/beta rhythms. Finally, we use the Cerebot platform to investigate the three models by controlling four robot-walking behaviors: turning right, turning left, walking forward, and walking backward.
Keywords :
C++ language; brain-computer interfaces; data acquisition; mathematics computing; mobile robots; neurophysiology; robot programming; telecontrol; C++; Central software; Cerebot; Cerebus data acquisition system; Choregraph; Matlab; OpenCV; OpenGL; OpenViBE programming environment; OpenViBE-based brainwave control system; P300s; SSVEPs; WEBOTS; brainwave-based control system; humanoid robot; mu/beta rhythms; neural signals; on-line control; robot-walking behaviors; user-developed programs; Brain modeling; Control systems; Humanoid robots; Legged locomotion; Software; User interfaces;
