| EEG paradigms | Authors | Robot model | Control commands |
| SSVEP | Güneysu and Akin [34] | NAO | Left, right, down, up (hand) | Zhao et al. [160] | NAO | Turn left, right, walk forward, backward for one-step walking, turn left, right, move forward, stop for continuous walking, head left, right, camera selecting top or bottom, object grasping and lifting | Caglayan and Arslan [36] | Kondo KHR-3HV | Raise left or right arm | Zhao et al. [28] | NAO | Walk forward and backward, turning left and right | Gergondet et al. [23] | HRP-2 | Walk forward and backward, turning left and right | Wang et al. [161] | NAO | Human face detection and tracking |
| P300 | Zhao et al. [28] | NAO | Walk forward and backward, shift left and right, turn left and right | Li et al. [162] | NAO | Walk forward and backward, shift left and right, turn left and right | Tang et al. [163] | NAO | Turn left and right (with different angle), move forward (with different speed), stand up, sit down, wave hand, turn on/off the system | Liu et al. [164] | Adult-size robot | Walk forward and backward, turn left and right |
| MI | Bouyarmane et al. [165] | Humanoid robot HRP2 | Go up and down | Batula et al. [166] | DARwIn-OP | Walk forward and backward, turn left and right | Cohen et al. [167] | HOAP3 | Walk forward, turn left and right |
| P300+MI | Finke et al. [19] | Honda’s Humanoid Robot | Walk forward and backward, sidestep left and right, turn left and right |
| SSVEP+MI | Duan et al. [20] | NAO | Walk forward, turn left and right, grasp motion |
|
|