Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots

This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the tracking controller to better follow the planned reference trajectory. To achieve this goal, this paper develops a novel force-feedback based whole-body stabilizer that fully exploits the six-dimensional force measurement information and the whole-body dynamics to improve tracking performance. Relying on rigorous analysis of whole-body dynamics of position-controlled humanoids under unknown contact, the developed stabilizer leverages quadratic-programming based technique that allows cooperative consideration of both the center-of-mass tracking and contact force tracking. The effectiveness of the proposed stabilizer is demonstrated on the UBTECH Walker robot in the MuJoCo simulator. Simulation validations show a significant improvement in various scenarios as compared to commonly adopted stabilizers based on the zero-moment-point feedback and the linear inverted pendulum model.

Eye-gaze Estimation with HEOG and Neck EMG using Deep Neural Networks

Hearing-impaired listeners usually have troubles attending target talker in multi-talker scenes, even with hearing aids (HAs). The problem can be solved with eye-gaze steering HAs, which requires listeners eye-gazing on the target. In a situation where head rotates, eye-gaze is subject to both behaviors of saccade and head rotation. However, existing methods of eye-gaze estimation did not work reliably, since the listener's strategy of eye-gaze varies and measurements of the two behaviors were not properly combined. Besides, existing methods were based on hand-craft features, which could overlook some important information. In this paper, a head-fixed and a head-free experiments were conducted. We used horizontal electrooculography (HEOG) and neck electromyography (NEMG), which separately measured saccade and head rotation to commonly estimate eye-gaze. Besides traditional classifier and hand-craft features, deep neural networks (DNN) were introduced to automatically extract features from intact waveforms. Evaluation results showed that when the input was HEOG with inertial measurement unit, the best performance of our proposed DNN classifiers achieved 93.3%; and when HEOG was with NEMG together, the accuracy reached 72.6%, higher than that with HEOG (about 71.0%) or NEMG (about 35.7%) alone. These results indicated the feasibility to estimate eye-gaze with HEOG and NEMG.

Auditory Attention Decoding from EEG using Convolutional Recurrent Neural Network

The auditory attention decoding (AAD) approach was proposed to determine the identity of the attended talker in a multi-talker scenario by analyzing electroencephalography (EEG) data. Although the linear model-based method has been widely used in AAD, the linear assumption was considered oversimplified and the decoding accuracy remained lower for shorter decoding windows. Recently, nonlinear models based on deep neural networks (DNN) have been proposed to solve this problem. However, these models did not fully utilize both the spatial and temporal features of EEG, and the interpretability of DNN models was rarely investigated. In this paper, we proposed novel convolutional recurrent neural network (CRNN) based regression model and classification model, and compared them with both the linear model and the state-of-the-art DNN models. Results showed that, our proposed CRNN-based classification model outperformed others for shorter decoding windows (around 90% for 2 s and 5 s). Although worse than classification models, the decoding accuracy of the proposed CRNN-based regression model was about 5% greater than other regression models. The interpretability of DNN models was also investigated by visualizing layers' weight.