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Aude Billard

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Related publications (258)

Page 6 of 13

Towards Reproducing Humans' Exquisite Dexterity and Reactivity

Aude Billard

Our homes, offices and urban surroundings are carefully built to be inhabited by us, humans. Tools and furniture are designed to be easily manipulated by the human hand. Floors and stairs are modeled for human-sized legs. For robots to work seamlessly in o ...

Assoc Computing Machinery2016

Learning to play minigolf: A dynamical system-based approach

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

A current trend in robotics is to define robot motions so that they can be easily adopted to situations beyond those for which the motion was originally designed. In this work, we show how the challenging task of playing minigolf can be efficiently tackled ...

Taylor & Francis Ltd2012

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

Aude Billard

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

Teaching a Humanoid: A User Study on Learning by Demonstration with HOAP-3

Aude Billard, Sylvain Calinon

This article reports on the results of a user study investigating the satisfaction of naïve users conducting two learning by demonstration tasks with the HOAP-3 robot. The main goal of this study was to gain insights on how to ensure a successful as well a ...

2009

Rewards-Driven Control of Robot Arm by Decoding EEG Signals

Aude Billard, José del Rocio Millán Ruiz, Ajay Kumar Tanwani

Decoding the user intention from non-invasive EEG signals is a challenging problem. In this paper, we study the feasibility of predicting the goal for controlling the robot arm in self-paced reaching movements, i.e., spontaneous movements that do not requi ...

2014

Transfer learning in robotics: An upcoming breakthrough? A review of promises and challenges

Aude Billard, Kunpeng Yao, Bernardo Fichera

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept—reusing prior knowledge to learn in and from novel situations—is successfully leveraged by humans to handle novel situations. In recent ...

SAGE Publications2024

Stretchable capacitive tactile skin on humanoid robot fingers - first experiments and results

Aude Billard, Stéphanie Lacour, Nicolas Sommer, Aaron Powers Gerratt

A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. U ...

2014

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

Hand Impedance Measurements During Interactive Manual Welding With a Robot

Aude Billard, Mustafa Suphi Erden

This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice manual welders, when they are performing tungsten inert gas (TIG) welding interactively with the KUKA lightweight robot arm (LWR). The results sh ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM

Aude Billard, Sylvain Calinon

This paper explores the issue of recognizing, generalizing and reproducing arbitrary gestures. We aim at extracting a representation that encapsulates only the key aspects of the gesture and discards the variability intrinsic to each person's motion. We co ...

2005

A Humanoid Robot Drawing Human Portraits

Aude Billard, Sylvain Calinon

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

2005

Social orienting of children with autism to facial expressions and speech: a study with a wearable eye-tracker in naturalistic settings

Aude Billard, Patrick Jermann, Basilio Noris, Silvia Magrelli

This study investigates attention orienting to social stimuli in children with Autism Spectrum Conditions (ASC) during dyadic social interactions taking place in real-life settings. We study the effect of social cues that differ in complexity and distingui ...

Frontiers Media2013

Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation

Aude Billard, Hang Yin, Miao Li, Kenji Tahara

Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issu ...

2014

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Aude Billard, Seyed Sina Mirrazavi Salehian

In this work, we propose a dynamical system based strategy for establishing a stable contact with convex shaped surfaces during non-contact/contact scenarios. A contact is called stable if the impact occurs only once and the robot remains in contact with t ...

2018

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

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

Stability Considerations for Variable Impedance Control

Aude Billard, Klas Jonas Alfred Kronander

Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Incremental motion learning with locally modulated dynamical systems

Aude Billard, Klas Jonas Alfred Kronander

Dynamical Systems (DS) for robot motion modeling are a promising approach for efficient robot learning and control. Our focus in this paper is on autonomous dynamical systems, which represent a motion plan without dependency on time. We develop a method th ...

Elsevier2015

On the Evolution of Fingertip Grasping Manifolds

Aude Billard

Efficient and accurate planning of fingertip grasps is essential for dexterous in-hand manipulation. In this work, we present a system for fingertip grasp planning that incrementally learns a heuristic for hand reachability and multi-fingered inverse kinem ...

Ieee2016

Graph signature for self-reconfiguration planning

Auke Ijspeert, Pierre Dillenbourg, Aude Billard, Masoud Asadpour, Alexander Spröwitz

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

2008