Brain-Actuated Control of Dual-Arm Robot Manipulation With Relative Motion

• Published in: IEEE transactions on cognitive and developmental systems Vol. 11; no. 1; pp. 51 - 62
• Main Authors: Li, Zhijun, Yuan, Wang, Zhao, Suna, Yu, Zhenzhong, Kang, Yu, Chen, C. L. Philip
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.03.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerospace electronics; Asymmetric bimanual manipulation; Brain; Constraints; Control tasks; Coordinate transformations; dual-arm robot; Electroencephalography; End effectors; Jacobi matrix method; Jacobian matrix; Kinematics; multichannel steady state visual evoked potential (SSVEP)-based system; Optimization; Polar coordinates; Redundancy; relative Jacobian; relative motion; Robot arms; Robot control; Robot dynamics; Robot kinematics; Robots; Support vector machines; Visual stimuli
• ISSN: 2379-8920; 2379-8939
• DOI: 10.1109/TCDS.2017.2770168

This paper describes the brain-actuated control of a dual-arm robot performing bimanual relative motion manipulation tasks, through the adoption of relative Jacobian matrix, wherein the dual-arm robot can be considered as a single manipulator and the movements of the end effectors can be calculated by the relative motion. An online brain-machine interface (BMI) system based on multichannel steady-state visual evoked potentials was developed, and it was able to perform band-pass filtering and visual stimuli classification using support vector machines. Considering the relative motion in a constrained plane, the asymmetric bimanual manipulation can be transformed into 2-D control tasks through polar coordinate transformation such that the end effectors can achieve smooth direction-and-distance motion in the arbitrary position of the operational space. Moreover, the kinematics redundancy scheme, using online neuro-dynamics optimization, was developed for joint velocity optimization subject to physical constraints. Five individuals participated in the experiments and successfully fulfilled the given manipulation task.