Publications by Aude Billard | EPFL Graph Search

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It is disclosed a wearable device (1) for exercising cervical spine, in particular for rehabilitation exercises for cervical spine disorders. The wearable device (1) includes -a structure (2) comprising a support (3) suitable to be worn on shoulders of a u ...

We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this algorithm is that it does not assume that the markers are tr ...

There is growing excitement about the potential of leveraging artificial intelligence (AI) to tackle some of the outstanding barriers to the full deployment of robots in daily lives. However, action and sensing in the physical world pose greater and differ ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biologi ...

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

This paper develops a general policy for learning relevant features of an imitation task. We restrict our study to imitation of manipulative tasks or of gestures. The imitation process is modeled as a hierarchical optimization system, which minimizes the discrepancy between two multi- dimensional datasets. To classify across manipulation strategies, we apply a probabilistic analysis to data in Cartesian and joint spaces. We determine a general metric that optimizes the policy of task reproduction, following

To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it de ...

We present an approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) to learn robust models of human motion through imitation. The proposed approach allows us to extract redundancies across multiple demonstrations and build time- ...

This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practical ...

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 ...

In this paper we discuss how the combination of modern technologies in "big data" storage and management, knowledge representation and processing, cloud-based computation, and web technology can help the robotics community to establish and strengthen an op ...

The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but not all the possibilities. The robot must then be able to reproduce the task even when unexpected perturbations occur. In this case, it has to learn a new solution. In this paper, we describe a system to teach to the robot constrained reaching tasks. Our

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 ...

This article presents a longitudinal study with four children with autism, who were exposed to a humanoid robot over a period of several months. The longitudinal approach allowed the children time to explore the space of robot– human, as well as human–human interaction. Based on the video material documenting the interactions, a quantitative and qualitative analysis was conducted. The quantitative analysis showed an increase in duration of pre-defined behaviours towards the later trials. A qualitative analy

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains compliant and ensures a safe response to external perturbations. Here, we propose a novel approach for designing the passive control policy. Our algorithm complies with obstacle-free zones while transitioning to increased damping near obstacles to ensure collisio

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here, we formulate a l ...

Humanoids remain luxurious robots, not easily purchasable or reproducible. The Robota project aims at building a low cost open humanoid platform, for use as educational tool for normal and disabled children. This paper reports on the mechanical design of a miniature 7 degrees of freedom articulated arm and of a miniature 3 degrees of freedom pair of eyes for Robota. We describe in details the mechanical construction, the electronic circuits and the control system, so that these could be easily duplicated by

Aude Billard

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Device for exercising cervical spine

Iterative rigid body transformation estimation for visual 3-D object tracking

A Roadmap for Ai in Robotics

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

A Biologically-Inspired Model of Reaching Movements

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Discovering Optimal Imitation Strategies

Learning of Grasp Adaptation through Experience and Tactile Sensing

Evaluation of a probabilistic approach to learn and reproduce gestures by imitation

The Dof-Box Project: An Educational Kit for Configurable Robots

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

Open Robotics Research Using Web-based Knowledge Services

Reinforcement Learning for Imitating Constrained Reaching Movements

Online Learning of Varying Stiffness Through Physical Human-Robot Interaction

Passive Obstacle-Aware Control to Follow Desired Velocities

Robotic assistants in therapy and education of children with autism: Can a small humanoid robot help encourage social interaction skills?

Passive Obstacle Aware Control to Follow Desired Velocity

Multimodal Sensory Learning for Real-time, Adaptive Manipulation

Development of a miniature articulated arm and pair of eyes for the humanoid robot Robota