Abstract-This paper presents a self-adaptive general type-2 fuzzy autonomous learning system (GT2 FS) for online motor imagery (MI) decoding to build a brain-machine interface (BMI) and navigate a bi-pedal humanoid robot in a real experiment, using EEG brain recordings only. GT2 FSs are applied to BMI for the first time in this study. We also account for several constraints commonly associated with BMI in real practice: 1) maximum number of electroencephalography (EEG) channels is limited and fixed, 2) no possibility of performing repeated user training sessions, and 3) desirable use of unsupervised and low complexity features extraction methods. The novel online autonomous learning method presented in this paper consists of a self-adaptive GT2 FS that can both autonomously adapt its parameters and its structure via creation, fusion and scaling of the fuzzy system rules in an online BMI experiment with a real robot. The structure identification is based on an online GT2 Gath-Geva algorithm where every MI decoding class can be represented by multiple fuzzy rules (models), which are learnt in a continuous (trial-bytrial) non-iterative basis. The effectiveness of the proposed method is demonstrated in a detailed BMI experiment where 15 untrained users can accurately interface with a humanoid robot, in a single thirty-minute experiment, using signals from six EEG electrodes only.Index Terms-General type-2 fuzzy systems, online brain machine interfaces, motor-imagery brain machine interfaces, autonomous learning systems, adaptive learning, phase synchrony features, non-iterative learning.