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Aude Billard

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Related publications (263)

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

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

Online Learning of Varying Stiffness Through Physical Human-Robot Interaction

Aude Billard, Klas Jonas Alfred Kronander

Programming by Demonstration offers an intu- itive framework for teaching robots how to perform various tasks without having to preprogram them. It also offers an intuitive way to provide corrections and refine teaching during task execution. Previously, m ...

Ieee2012

Probabilistic Depth Image Registration incorporating Nonvisual Information

Aude Billard, Ludovic Righetti

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the ...

Ieee2012

A Dynamical System Approach to Realtime Obstacle Avoidance

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a novel approach to real-time obstacle avoidance based on dynamical systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spa ...

Springer Verlag2012

Reaching and grasping kitchenware objects

Aude Billard, José Santos-Victor, Ashwini Shukla, Alexandre Bernardino

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector o ...

2012

Iterative Learning of Grasp Adaptation through Human Corrections

Aude Billard, Eric Sauser, Brenna Dee Argall

In the context of object interaction and manipulation, one characteristic of a robust grasp is its ability to comply with external perturbations applied to the grasped object while still maintaining the grasp. In this work we introduce an approach for gras ...

Elsevier2012

A Wearable Gaze Tracking System for Children in Unconstrained Environments

Aude Billard, Jean-Baptiste Keller, Basilio Noris

We present here a head-mounted gaze tracking system for the study of visual behavior in unconstrained environments. The system is designed both for adults and for infants as young as 1 year of age. The system uses two CCD cameras to record a very wide fiel ...

2011

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...

2011

Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators [accepted]

Aude Billard, Elena Gribovskaya, Seyed Mohammad Khansari Zadeh

Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. Furthermore, a human provides only few de ...

SAGE Publications2011

Donut as I do: Learning from Failed Demonstrations

Aude Billard, Daniel Grollman

The canonical Robot Learning from Demonstration scenario has a robot observing human demonstrations of a task or behavior in a few situations, and then developing a generalized controller. Current work further reﬁnes the learned system, often to perform th ...

2011

Learning to Control Planar Hitting Motions in a Monigolf-like Task

Aude Billard, Seyed Mohammad Khansari Zadeh, Klas Jonas Alfred Kronander

A current trend in robotics is to define robot tasks using a combination of superimposed motion patterns. For maximum versatility of such motion patterns, they should be easily and efficiently adaptable for situations beyond those for which the motion was ...

IEEE2011

The Ethical Landscape of Robotics

Aude Billard, Pawel Lichocki

This paper surveys some of the main ethical issues pertaining to robotics that have been discussed in the literature. We start with the idea of responsibility ascription that arises when an autonomous system malfunctions or harms people. Next, we discuss v ...

Institute of Electrical and Electronics Engineers2011

Wearable systems for audio, visual and gaze monitoring

Aude Billard, Jean-Baptiste Keller, Basilio Noris

A non-obtrusive portable device, wearable from infancy through adulthood, mounted with i) a set of two or more optical device(s) providing visual and audio information as perceived by the user ii) an actuated mirror or optical device returning visual infor ...

2011

Coupled dynamical system based hand-arm grasp planning under real-time perturbations

Aude Billard, Ashwini Shukla

Robustness to perturbation has been advocated as a key element to robot control and efforts in that direction are numerous. While in essence these approaches aim at "endowing robots with a flexibility similar to that displayed by humans", few have actually ...

MIT Press2011

Measuring Gaze of Children with Autism Spectrum Disorders in Naturalistic Interactions

Aude Billard, Basilio Noris

In this paper, we report on a study on gaze behavior by children with Autism Spectrum Disorder (ASD) during a dyadic interaction in a naturalistic environment. Twelve children with ASD were contrasted to twelve typically developing (TD) children, in a semi ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

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

Revisiting a study of callosal apraxia: The right hemisphere can imitate the orientation but not the position of the hand

Aude Billard, Biljana Petreska von Ritter-Zahony

Callosal disconnection can reveal asymmetrical contributions of the two brain hemispheres to praxis. In this paper, we revisit a study of a patient with callosal disconnection (Goldenberg et al., 2001, Neuropsychologia, 39:1432–1443), who perfectly imitate ...

Elsevier2010

Tactile Guidance for Policy Refinement and Reuse

Aude Billard, Eric Sauser, Brenna Dee Argall

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement a ...

2010

A Survey of Tactile Human-Robot Interactions

Aude Billard, Brenna Dee Argall

Robots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. ...

Elsevier2010

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

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