Publications by Aude Billard | EPFL Graph Search

Related publications (258)

A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Aude Billard, Silvestro Micera, Marco Capogrosso, Seyed Sina Mirrazavi Salehian, Sophie Marie Marthe Wurth, Marion Aimée Geneviève Badi-Dubois

Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently ric ...

IOP PUBLISHING LTD2020

Coupled dynamical system based arm-hand grasping model for learning fast adaptation strategies

Aude Billard, Ashwini Shukla

Performing manipulation tasks interactively in real environments requires a high degree of accuracy and stability. At the same time, when one cannot assume a fully deterministic and static environment, one must endow the robot with the ability to react rap ...

Elsevier2012

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021

Role of Gaze Cues in Interpersonal Motor Coordination: Towards Higher Affiliation in Human-Robot Interaction

Aude Billard, Mahdi Khoramshahi, Ashwini Shukla

Background The ability to follow one another's gaze plays an important role in our social cognition; especially when we synchronously perform tasks together. We investigate how gaze cues can improve performance in a simple coordination task (i.e., the mirr ...

Public Library of Science2016

A Predictive Model for Tactile Force Estimation Using Audio-Tactile Data

Dominic Reber, Aude Billard, Ahalya Prabhakar, Loïc Niederhauser

Robust in-hand manipulation of objects with movable content requires estimation and prediction of the contents' motion with enough anticipation to allow time to compensate for resulting internal torques. The quick estimation of the objects' dynamics can be ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Linearization and Identification of Multiple-Attractor Dynamical Systems through Laplacian Eigenmaps

Aude Billard, Bernardo Fichera

Dynamical Systems (DS) are fundamental to the modeling and understanding time evolving phenomena, and have application in physics, biology and control. As determining an analytical description of the dynamics is often difficult, data-driven approaches are ...

Microtome Publishing2022

Motor-Primed Visual Attention for Humanoid Robots

Aude Billard, José Santos-Victor, Luka Lukic

We present a novel, biologically inspired, approach to an efficient allocation of visual resources for humanoid robots in a form of a motor-primed visual attentional landscape. The attentional landscape is a more general, dynamic and a more complex concept ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Motion Learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans

Aude Billard, Elena Gribovskaya

One of the hallmarks of physical interaction between humans is haptic communication, i.e. an informa- tion exchange through force signals. Humans excel in tasks that require such interaction by adapting impedance and anticipating the partner’s intentions. ...

2011

Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds

Aude Billard, Lukas Huber

This article presents a closed-form approach to constraining a flow within a given volume and around objects. The flow is guaranteed to converge and to stop at a single fixed point. The obstacle avoidance problem is inverted to enforce that the flow remain ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Positive-Unlabeled Constraint Learning for Inferring Nonlinear Continuous Constraints Functions From Expert Demonstrations

Baiyu Peng, Aude Billard

Planning for diverse real-world robotic tasks necessitates to know and write all constraints. However, instances exist where these constraints are either unknown or challenging to specify accurately. A possible solution is to infer the unknown constraints ...

2024

A structured prediction approach for robot imitation learning

Aude Billard, Iason Batzianoulis

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form of supervised le ...

Sage Publications Ltd2023

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

Aude Billard, Kunpeng Yao

Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...

2020

Roombots: Reconfigurable Robots for Adaptive Furniture

Auke Ijspeert, Pierre Dillenbourg, Aude Billard, Alexander Spröwitz, Rico Möckel, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010

Force Synergies Within and Across the Two Hands in Bimanual Skill Acquisition

Caroline Savio, Aude Billard, Kunpeng Yao

Bimanual fine-manipulation tasks demand the collaboration of both hands and rely on the coordinated forces applied by fingers from both hands. Despite the abundant degrees of freedom (DoFs) of our hands, humans distribute the roles across hands and apply b ...

Society for Neural Control of Movement2022

A framework integrating statistical and social cues to teach a humanoid robot new skills

Aude Billard, Sylvain Calinon

Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...

2008

Social babbling: The emergence of symbolic gestures and words

Aude Billard, Laura Bénédicte Marine Cohen

Language acquisition theories classically distinguish passive language understanding from active language production. However, recent findings show that brain areas such as Broca's region are shared in language understanding and production. Furthermore, th ...

PERGAMON-ELSEVIER SCIENCE LTD2018

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Aude Billard, Diego Felipe Paez Granados

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

Nature Publishing Group2022

A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm

Auke Ijspeert, Aude Billard, Lukas Huber, Anastasia Bolotnikova

In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture ...

IEEE2022

Parallel and Distributed Neural Models of the Ideomotor Principle: An Investigation of Imitative Cortical Pathways

Aude Billard, Eric Sauser

Humans’ capacity to imitate has been extensively investigated through a wide-range of behavioral and developmental studies. Yet, despite the huge amount of phenomenological evidence gathered, we are still unable to relate this behavioral data to any specif ...

2006