Publications de Aude Billard | EPFL Graph Search

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This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion of a redundant robot arm by allowing it to come in contact with the environment with the appropriate link according to the requirements of the hitting task. In tasks where directional effective inertia of a robot is important at the contact point, it is useful to understand inertia at different links, so as to select the appropriate link. Hitting with those links allows us to manipulate a wider range of objec

The Robota project constructs a series of multiple degrees of freedom doll-shaped humanoid robots, whose physical features resemble those of a human baby. The Robota robots have been applied as assistive technologies in behavioral studies with low-function ...

In this work, we introduce a novel Dynamical System (DS)-based approach for modeling complex and compliant manipulation tasks, that are composed of a sequence of action phases with different compliance requirements; i.e. impedance primitives. We adopt a cl ...

Dynamical Systems (DS) are often used to represent motion, with the advantage of being easy to learn from demonstrations. We present a method to modulate DS depending on an external signal, extending our previous work on Locally Modulated DS (LMDS, Kronand ...

As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for co-evolving task an ...

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 ...

In robotic throwing, the release phase involves complex dynamic interactions due to object deformation and limited gripper opening speed, often resulting in inaccurate and nonrepeatable throws. While data-driven methods can be employed to compensate for th ...

Since 2014, a specific standard was dedicated to the safety certification of personal care robots, which operates in close proximity to humans. These robots served as information providers, object transporters, personal mobility carriers, and security patr ...

Microsurgical anastomosis demands exceptional dexterity and visuospatial skills, underscoring the importance of comprehensive training and precise outcome assessment. Currently, methods such as the outcome-oriented anastomosis lapse index are used to evalu ...

We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...

We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...

In this work, we present an adaptive motion planning approach for impedance-controlled robots to modify their tasks based on human physical interactions. We use a class of parameterized time-independent dynamical systems for motion generation where the mod ...

This paper proposes an EMG based learning approach for estimating the displacement along the 2-axes (abduction/adduction and flexion/extension) of the human wrist in real-time. The algorithm extracts features from the EMG electrodes on the upper and forear ...

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 ...

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 ...

Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social ...

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

In this work we propose an approach for learning task specifications automatically, by observing human demonstrations. Using this allows a robot to combine representations of individual actions to achieve a high-level goal. We hypothesize that task specifi ...

Autonomous grasping is a complex task for robots. It is a high dimensional problem since it involves controlling for the hand position, orientation and joint angles to successfully grasp an object. In order to reduce the control complexity, we adopt a 3-step approach. In the first step, we compute several stable grasps that are adapted to the robotic hand using an optimization technique. In a second step, we extract postural synergies from this grasping data, project the grasps into these synergies subspace

This paper proposes a capture-point based reactive omnidirectional controller for bipedal locomotion. The proposed scheme, formulated within Model Predictive Control (MPC) framework, exploits concurrently the Center of Mass (CoM) and Capture Point (CP) dyn ...

Aude Billard

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Efficient Hitting with different links of a Redundant Robotic Manipulator

Building Robota, a Mini-Humanoid Robot for the Rehabilitation of Children with Autism

Modeling Compositions of Impedance-based Primitives via Dynamical Systems

Learning Externally Modulated Dynamical Systems

User-specific, Adaptable Safety Controllers Facilitate User Adoption in Human-Robot Collaboration

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

Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty

On the Safety of Mobile Robots Serving in Public Spaces: Identifying gaps in EN ISO 13482:2014 and calling for a new standard

Quantitative Outcome-Oriented Assessment of Microsurgical Anastomosis

Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework

Online learning of the body schema

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

EMG-based learning approach for estimating wrist motion

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

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

Influence of Facial Feedback and Mind Perception During a Cooperative Human-Robot Task in Schizophrenia

Multi-contact haptic exploration and grasping with tactile sensors

Task Parameterization Using Continuous Constraints Extracted From Human Demonstrations

Synergy-level Grasp Synthesis Learning

Capture-Point Based Balance and Reactive Omnidirectional Walking Controller