论文笔记——Task Level Hierarchical System for BCI-enabled Shared Autonomy

原文链接：http://www.cs.columbia.edu/~allen/PAPERS/Humanoids_2017.pdf

Abstract—This paper describes a novel hierarchical system for shared control of a humanoid robot. Our framework uses a low-bandwidth Brain Computer Interface (BCI) to interpret electroencephalography (EEG) signals via Steady-
State Visual Evoked Potentials (SSVEP). This BCI allows a user to reliably interact with the humanoid. Our system clearly delineates between autonomous robot operation and human-guided intervention and control. Our shared-control system leverages the ability of the robot to accomplish low level tasks on its own, while the user assists the robot with high level directions when needed. This partnership prevents fatigue of the human controller by not requiring continuous BCI control to accomplish tasks which can be automated. We have tested the system in simulation and in real physical settings with multiple subjects using a Fetch mobile manipulator. Working together,

the robot and human controller were able to accomplish tasks such as navigation, pick and place, and table clean up.

摘要—本文主要研究用于仿人机器人共享控制的新型分层系统。我们的框架使用低宽带的脑机接口（BCI）通过稳态视觉诱发电位（SSVEP）来解释脑电信号（EEG）。该接口可以使人机进行可靠的交互