A multimode navigation system for an assistive robotics project

Cherubini, Andrea; Oriolo, Giuseppe; Macrì, Francesco; Aloise, Fabio; Cincotti, Febo; Mattia, Donatella

doi:10.1007/s10514-008-9102-y

Cited by 10 publications

(5 citation statements)

References 43 publications

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“…Two interacting agents, the BCI system and the intelligent device, are sharing the task. Shared control has been prominent in recent work regarding neuroprostheses such as robots and wheelchairs [35][36][37][38][39][40], as well as other intelligent systems such as smart virtual keyboards [41] or virtual helicopters [42]. For example, a user who is writing a novel such as 'The Diving Bell and the Butterfly' could write more quickly with intelligent tools that can predict letters, complete words or automatically correct errors.…”

Section: Goal Versus Process Controlmentioning

confidence: 99%

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Toward smarter BCIs: extending BCIs through hybridization and intelligent control

et al. 2011

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This paper summarizes two novel ways to extend brain-computer interface (BCI) systems. One way involves hybrid BCIs. A hybrid BCI is a system that combines a BCI with another device to help people send information. Different types of hybrid BCIs are discussed, along with challenges and issues. BCIs are also being extended through intelligent systems. Software that allows high-level control, incorporates context and the environment and/or uses virtual reality can substantially improve BCI systems. Throughout the paper, we critically address the real benefits of these improvements relative to existing technology and practices. We also present new challenges that are likely to emerge as these novel BCI directions become more widespread.

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Section: Goal Versus Process Controlmentioning

confidence: 99%

Section: Goal Versus Process Controlmentioning

confidence: 99%

Toward smarter BCIs: extending BCIs through hybridization and intelligent control

et al. 2011

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“…The rotation and translation of the image plane are firstly estimated, based on features extracted from images of the video sequence. The images are then registered using the estimated parameters (Cherubini et al, 2007;Wörz & Rohr, 2007). These types of approaches generally present high computational costs, meaning that it can be difficult to implement in some robots.…”

Section: State-of-the-artmentioning

confidence: 99%

Head Motion Stabilization During Quadruped Robot Locomotion

Oliveira

Santos

Costa

et al. 2011

International Journal of Natural Computing Research

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In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.

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“…Perceiving the environment is crucial in any application related to mobile robotics research [1,2]. The information surrounding the robot can be used to navigate, avoid barriers and execute a given mission [3].…”

Section: Introductionmentioning

confidence: 99%

Optical flow or image subtraction in human detection from infrared camera on mobile robot

Fernández-Caballero

Castillo

Martínez-Cantos³

et al. 2010

Robotics and Autonomous Systems

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Perceiving the environment is crucial in any application related to mobile robotics research. In this paper, a new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecurit TM is introduced. The approach starts with a phase of static analysis for the detection of human candidates through some classical image processing techniques such as image normalization and thresholding. Then, the proposal starts a dynamic image analysis phase based in optical flow or image difference. Optical flow is used when the robot is moving, whilst image difference is the preferred method when the mobile platform is still. The results of both phases are compared to enhance the human segmentation by infrared camera. Indeed, optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates' detection.

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A multimode navigation system for an assistive robotics project

Cited by 10 publications

References 43 publications

Toward smarter BCIs: extending BCIs through hybridization and intelligent control

Toward smarter BCIs: extending BCIs through hybridization and intelligent control

Head Motion Stabilization During Quadruped Robot Locomotion

Optical flow or image subtraction in human detection from infrared camera on mobile robot

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