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Aude Billard

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Related publications (258)

Page 4 of 13

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

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

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

SAGE Publications2023

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

Aude Billard, Silvestro Micera, Iason Batzianoulis, Vincent Alexandre Mendez, Farshad Khadivar, Carolina Gaspar Pinto Ramos Correia

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

Recognizing the grasp intention from human demonstration

Aude Billard, Sahar El Khoury, José Santos-Victor, Ravin Luis De Souza

In human grasping, choices are made on the use of hand-parts even before a grasp is realized. The human associates these choices with end-functionality and is confident that the resulting grasp will be able to meet task requirements. We refer to these choi ...

Elsevier2015

Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism

Jean-Philippe Thiran, Aude Billard, Julien Meynet, Basilio Noris

In this paper we present a computer based approach to analysis of social interaction experiments for the diagnosis of autism spectrum disorders in young children of 6-18 months of age. We apply face detection on videos from a head-mounted wireless camera t ...

Springer-Verlag2007

Unravelling socio-motor biomarkers in schizophrenia

Aude Billard, Mahdi Khoramshahi, Laura Bénédicte Marine Cohen

We present novel, low-cost and non-invasive potential diagnostic biomarkers of schizophrenia. They are based on the 'mirrorgame', a coordination task in which two partners are asked to mimic each other's hand movements. In particular, we use the patient's ...

2017

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

Active Teaching in Robot Programming by Demonstration

Aude Billard, Sylvain Calinon

Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...

2007

Recent Advances in Robot Learning from Demonstration

Athanasios Polydoros, Aude Billard

In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be n ...

2020

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

Aude Billard, Seyed Mohammad Khansari Zadeh

We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...

Elsevier2014

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration

Aude Billard, Brenna Dee Argall, Ana-Lucia Ureche

In this paper we focus on human-robot interaction particularities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presen ...

Springer Netherlands2013

A Unified Framework for Coordinated Multi-Arm Motion Planning

Aude Billard, Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez

Coordination is essential in the design of dynamic control strategies for multi-arm robotic systems. Given the complexity of the task and dexterity of the system, coordination constraints can emerge from different levels of planning and control. Primarily, ...

SAGE Publications2018

Learning dynamical systems with bifurcations

Aude Billard, Farshad Khadivar, Ilaria Lauzana

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

Learning search behaviour from humans

Aude Billard, Guillaume Pierre Luc De Chambrier

A frequent method for taking into account the partially observable nature of an environment in which robots interact lies in formulating the problem domain as a Partially Observable Markov Decision Process (POMDP). By having humans demonstrate how to act i ...

2013

Learning Cost Function and Trajectory for Robotic Writing Motion

Aude Billard, Hang Yin

We present algorithms for inferring the cost function and reference trajectory from human demonstrations of hand-writing tasks. These two key elements are then used, through optimal control, to generate an impedance-based controller for a robotic hand . Th ...

2014

An objective skill assessment framework for microsurgical anastomosis based on ALI scores

Aude Billard, Kunpeng Yao, Soheil Gholami

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

Springer Wien2024

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Aude Billard, Kunpeng Yao, Farshad Khadivar, Bernardo Fichera, Konstantinos Chatzilygeroudis, Ilaria Lauzana

We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. ...

2020

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Aude Billard, José Santos-Victor, Luka Lukic

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

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

A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space

Aude Billard, Sylvain Calinon

We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) framework and for generalizing the acquired knowledge to various situations. We propose an approach ...

2008