Abstract
In this paper, probabilistic-based workspace scan modes of a robot manipulator are presented. The scan modes are governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Desynchronization events). The user is capable to select a specific position at the robot’s workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated to it. Once the robot reaches a cell, its probability value is updated. The mode the scans are made is determined by the probability of all cells at the workspace. The updating process is governed by a recursive Bayes algorithm. A performance comparison between a sequential scan mode and the ones proposed here is presented. Mathematical derivations and experimental results are also shown in this paper.
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Auat Cheeín, F.A., di Sciascio, F., Bastos Filho, T.F., Carelli, R. (2008). Towards a Probabilistic Manipulator Robot’s Workspace Governed by a BCI. In: Fred, A., Filipe, J., Gamboa, H. (eds) Biomedical Engineering Systems and Technologies. BIOSTEC 2008. Communications in Computer and Information Science, vol 25. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-92219-3_5
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DOI: https://doi.org/10.1007/978-3-540-92219-3_5
Publisher Name: Springer, Berlin, Heidelberg
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