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Aude Billard

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Related publications (263)

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Locally active globally stable dynamical systems: Theory, learning, and experiments

Aude Billard, Nadia Barbara Figueroa Fernandez

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

SAGE PUBLICATIONS LTD2022

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

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

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

Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics

Aude Billard, David Julian Gonon, Yujie He

Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation control framework tha ...

IEEE2022

Effects of Task Conditions on Human Hand Pose Selection Strategies in a Bimanual Fine Manipulation Task

Aude Billard, Kunpeng Yao

Many manipulations in human everyday activities rely on the collaboration of our two hands. Bimanual fine manipulation tasks are particularly demanding when precise coordination among fingers of both hands are required. Yet, despite the abundant degrees of ...

Society for Neural Control of Movement2022

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

Aude Billard, Auke Ijspeert, 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

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

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

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Pericle Salvini, Diego Felipe Paez Granados

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2022

EMG-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses

Aude Billard, Silvestro Micera, Vincent Alexandre Mendez, Iason Batzianoulis, Farshad Khadivar

Objective. The limited functionality of hand prostheses remains one of the main reasons behind the lack of its wide adoption by amputees. Indeed, while commercial prostheses can perform a reasonable number of grasps, they are often inadequate for manipulat ...

IOP Publishing Ltd2022

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

User-specific, Adaptable Safety Controllers Facilitate User Adoption in Human-Robot Collaboration

Aude Billard, Ahalya Prabhakar

As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for co-evolving task an ...

2022

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

Aude Billard, A Jung Moon

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? ...

ASSOC COMPUTING MACHINERY2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

2021

Learning dynamical systems with bifurcations

Aude Billard, Ilaria Lauzana, Farshad Khadivar

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

Elsevier2021

On the Safety of Mobile Robots Serving in Public Spaces: Identifying gaps in EN ISO 13482:2014 and calling for a new standard

Aude Billard, Pericle Salvini, Diego Felipe Paez Granados

Since 2014, a specific standard was dedicated to the safety certification of personal care robots, which operates in close proximity to humans. These robots served as information providers, object transporters, personal mobility carriers, and security patr ...

2021

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