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Aude Billard

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Related publications (263)

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction

A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human in ...

SPRINGER2020

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

Recent Advances in Robot Learning from Demonstration

Aude Billard, Athanasios Polydoros

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

A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction

Aude Billard, Mahdi Khoramshahi

The goal of this work is to enable robots to intelligently and compliantly adapt their motions to the intention of a human during physical Human-Robot Interaction (pHRI) in a multi-task setting. We employ a class of parameterized dynamical systems that all ...

2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Walid Amanhoud, Mahdi Khoramshahi

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

MIT PRESS2019

Evaluation of an Industrial Robotic Assistant in an Ecological Environment

Aude Billard, Mahdi Khoramshahi, Leonardo Urbano, Baptiste Busch

Social robotic assistants have been widely studied and deployed as telepresence tools or caregivers. Evaluating their design and impact on the people interacting with them is of prime importance. In this research, we evaluate the usability and impact of AR ...

2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Walid Amanhoud, Mahdi Khoramshahi

Robotics: Science and Systems (RSS)2019

On Force Synergies in Human Grasping Behavior

Aude Billard, Konstantinos Chatzilygeroudis

The human hand is a versatile and complex system with dexterous manipulation capabilities. For the transfer of human grasping capabilities to humanoid robotic and prosthetic hands, an understanding of the dynamic characteristics of grasp motions is fundame ...

IEEE2019

Four-Arm Manipulation via Feet Interfaces

Hannes Bleuler, Mohamed Bouri, Aude Billard, Walid Amanhoud, Anaïs Betsabeh Haget, Jacob Hernandez Sanchez

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

AAAI2019

Inferring subjective preferences on robot trajectories using EEG signals

Aude Billard, Ricardo Andres Chavarriaga Lozano, José del Rocio Millán Ruiz, Inaki Asier Iturrate Gil, Iason Batzianoulis, Fumiaki Iwane

Cognitive information has been exploited in non-invasive Brain Computer Interface (BCI) scenarios to provide autonomous external agents with additional information. In this context, Error-related potentials (ErrPs), temporal deflections in electroencephalo ...

IEEE2019

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

Aude Billard, Lukas Huber

This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prov ...

2019

Shared human–robot proportional control of a dexterous myoelectric prosthesis

Aude Billard, Edoardo D'Anna, Nicolas Sommer, Silvestro Micera, Emanuele Formento, Saurav Aryan, Vincent Alexandre Mendez, Francesco Maria Petrini, Fiorenzo Artoni, Katie Zhi Zhuang

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Such commercial devices can give users a high level of autonomy, but still do not approach the dexterity of the intact hu ...

2019

Trends and challenges in robot manipulation

Aude Billard

Our ability to grab, hold, and manipulate objects involves our dexterous hands, our sense of touch, and feedback from our eyes and muscles that allows us to maintain a controlled grip. Billard and Kragic review the progress made in robotics to emulate thes ...

American Association for the Advancement of Science2019

Reach-to-grasp motions: Towards a dynamic classification approach for upper-limp prosthesis

Aude Billard, Iason Batzianoulis

During reach-to-grasp motions,the Electromyographic (EMG) activity of the arm varies depending on motion stage. The variability of the EMG signals results in low classification accuracy during the reaching phase, delaying the activation of the prosthesis. ...

IEEE2019

An ensemble inverse optimal control approach for robotic task learning and adaptation

Aude Billard, Hang Yin, Ana Paiva

This paper contributes a novel framework to efficiently learn cost-to-go function representations for robotic tasks with latent modes. The proposed approach relies on the principle behind ensemble methods, where improved performance is obtained by aggregat ...

2019

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Aude Billard, Anaïs Betsabeh Haget, Ilaria Lauzana, Kunpeng Yao, Bernardo Fichera

We propose to make a demonstration of the experimental setup that we have developed to measure human bimanual dexterity in watchmaking. These measurements and their analysis are used to develop robot controllers with similar dexterity. Next we explain the ...

2018

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Aude Billard

Graph Chatbot

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Recent Advances in Robot Learning from Demonstration

A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Evaluation of an Industrial Robotic Assistant in an Ecological Environment

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

On Force Synergies in Human Grasping Behavior

Four-Arm Manipulation via Feet Interfaces

Inferring subjective preferences on robot trajectories using EEG signals

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

Shared human–robot proportional control of a dexterous myoelectric prosthesis

Trends and challenges in robot manipulation

Reach-to-grasp motions: Towards a dynamic classification approach for upper-limp prosthesis

An ensemble inverse optimal control approach for robotic task learning and adaptation

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Action Anticipation: Reading the Intentions of Humans and Robots

Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior

Does this robot have a mind? Schizophrenia patients' mind perception toward humanoid robots

Learning task manifolds for constrained object manipulation