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Aude Billard

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Related publications (263)

Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control

Aude Billard, Ashwini Shukla, Mahdi Khoramshahi

Many daily tasks involve spatio-temporal coordination between two agents. Study of such coordinated actions in human-human and human-robot interaction has received increased attention of late. In this work, we use the mirror paradigm to study coupling of h ...

2014

Learning of Grasp Adaptation through Experience and Tactile Sensing

Aude Billard, Miao Li

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 ...

2014

A Wearable Camera Detects Gaze Peculiarities during Social Interactions in Young Children with Pervasive Developmental Disorders

Aude Billard, Basilio Noris, Patrick Jermann, Silvia Magrelli

We report on the study of gazes, conducted on children with pervasive developmental disorders (PDD), by using a novel head-mounted eye-tracking device called the WearCam. Due to the portable nature of the WearCam, we are able to monitor naturalistic intera ...

Ieee-Inst Electrical Electronics Engineers Inc2014

Towards comprehensive capture of human grasping and manipulation skills

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

Grasping plays a central role in our daily life. To interact with objects surrounding them, people use a large diversity of hand configurations in combination with forces ranging from the small ones involved in manipulating a pen for writing, to larger for ...

2014

Learning Cost Function and Trajectory for Robotic Writing Motion

Aude Billard, Hang Yin, Ana Paiva

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

End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot

Aude Billard, Mustafa Suphi Erden

This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch ...

2014

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

Safety Issues in Human-Robot Interactions

Aude Billard, Milos Vasic

Safety is an important consideration in human-robot interactions. Robots can perform powerful movements that can cause hazards to humans surrounding them. To prevent accidents, it is important to identify sources of potential harm, to determine which of th ...

2013

Using a head-mounted camera to infer attention direction

Aude Billard

A head-mounted camera was used to measure head direction. The camera was mounted to the forehead of 20 6- and 20 12-month-old infants while they watched an object held at 11 horizontal (-80 degrees to + 80 degrees) and 9 vertical (-48 degrees to + 50 degre ...

Sage Publications Ltd2013

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

On the Generation of a Variety of Grasps

Aude Billard, Miao Li, Sahar El Khoury

In everyday life, people use a large diversity of hands configurations while reaching out to grasp an object. They tend to vary their hands position/orientation around the object and their fingers placement on its surface according to the object properties ...

Elsevier2013

Transfer in Inverse Reinforcement Learning for Multiple Strategies

Aude Billard, Ajay Kumar Tanwani

We consider the problem of incrementally learning different strategies of performing a complex sequential task from multiple demonstrations of an expert or a set of experts. While the task is the same, each expert differs in his/her way of performing it. W ...

2013

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

Aude Billard, Basilio Noris, Patrick Jermann, 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

Face classification using touch with a humanoid robot hand

Aude Billard, Nicolas Sommer

This paper presents an experiment in which the iCub humanoid robot learns to recognize faces through proprioceptive information. We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face. Th ...

2012

Investigating Gaze of Children with ASD in Naturalistic Settings

Aude Billard, Basilio Noris, Nouchine Hadjikhani

Background: Visual behavior is known to be atypical in Autism Spectrum Disorders (ASD). Monitor-based eye-tracking studies have measured several of these atypicalities in individuals with Autism. While atypical behaviors are known to be accentuated during ...

Public Library of Science2012

Estimating the non-linear dynamics of free-flying objects

Aude Billard, Seungsu Kim

This paper develops a model-free method to estimate the dynamics of free-flying objects. We take a realistic perspective to the problem and investigate tracking accurately and very rapidly the trajectory and orientation of an object so as to catch it in fl ...

Elsevier2012

Robot Learning from Failed Demonstrations

Aude Billard, Daniel Grollman

Springer, Springer Netherlands2012

Iterative Estimation of Rigid-Body Transformations Application to Robust Object Tracking and Iterative Closest Point

Micha Hersch, Aude Billard

Closed-form solutions are traditionally used in computer vision for estimating rigid body transformations. Here we suggest an iterative solution for estimating rigid body transformations and prove its global convergence. We show that for a number of applic ...

Springer Verlag2012

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

Aude Billard, José Santos-Victor, Luka Lukic

Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...

2012

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

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