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Aude Billard

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Publications associées (263)

Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot

Aude Billard, Elena Gribovskaya

We present a generic framework that combines Dynamical Systems movement control with Programming by Demon- stration (PbD) to teach a robot bimanual coordination task. The model consists of two systems: a learning system that processes data collected during ...

2008

Online learning of the body schema

Micha Hersch, Aude Billard, Eric Sauser

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 ...

2008

On the influence of symbols and myths in the responsibility ascription problem in roboethics - A roboticist’s perspective

Aude Billard, Pierre-André Mudry, Sarah Dégallier Rochat

Because of the increasing developments of humanoid robots, humans and robots are going to interact more and more often in the near future. Thus, the need for a well-defined ethical framework in which these interactions will take place is very acute. In thi ...

2008

A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space

Aude Billard, Sylvain Calinon

We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) framework and for generalizing the acquired knowledge to various situations. We propose an approach ...

2008

Graph signature for self-reconfiguration planning

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, 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

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

Micha Hersch, Aude Billard

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 ...

2008

A framework integrating statistical and social cues to teach a humanoid robot new skills

Aude Billard, Sylvain Calinon

Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...

2008

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the envir ...

2008

Incremental Learning of Gestures by Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting signals in a Gaussian Mixture Model (GMM). We compare the per ...

2007

WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children

Aude Billard, Basilio Noris, Olivier Barbey

Autism covers a large spectrum of disorders that affect the individual’s way of interacting socially and is often revealed by the individual’s lack of interest in gazing at human faces. Currently Autism is diagnosed in children no younger than 2 years old. ...

2007

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

André Guignard, Aude Billard, Auke Ijspeert, Florent Günter, Davis Daidié, Olivier Barbey

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 ...

2007

What is the Teacher's Role in Robot Programming by Demonstration? - Toward Benchmarks for Improved Learning

Aude Billard, Sylvain Calinon

Robot programming by demonstration (RPD) covers methods by which a robot learns new skills through human guidance. We present an interactive, multimodal RPD framework using active teaching methods that places the human teacher in the robot's learning loop. ...

2007

Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism

Jean-Philippe Thiran, Aude Billard, Basilio Noris, Julien Meynet

2007

Auditory motion affects visual biological motion processing

Aude Billard, Biljana Petreska von Ritter-Zahony, Olaf Blanke

The processing of biological motion is a critical, everyday task performed with remarkable efficiency by human sensory systems. Interest in this ability has focused to a large extent on biological motion processing in the visual modality (see, for example, ...

Elsevier2007

Interferences in the Transformation of Reference Frames during a Posture Imitation Task

Aude Billard, Eric Sauser

We present a biologically-inspired neural model addressing the problem of transformations across frames of reference in a posture imitation task. Our modeling is based on the hypothesis that imitation is mediated by two concurrent transformations selective ...

2007

Active Teaching in Robot Programming by Demonstration

Aude Billard, Sylvain Calinon

Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...

2007

Using Reinforcement Learning to Adapt an Imitation Task

Aude Billard, Florent Günter

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 ...

2007

A Model of Acquisition of Discrete Bimanual Coordination Skills for a Humanoid Robot

Aude Billard, Elena Gribovskaya

2007

Apraxia: a review

Aude Billard, Biljana Petreska von Ritter-Zahony, Olaf Blanke

Praxic functions are frequently altered following brain lesion, giving rise to apraxia - a complex pattern of impairments that is difficult to assess or interpret. In this chapter, we review the current taxonomies of apraxia and related cognitive and neuro ...

Elsevier2007

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

Aude Billard

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 ...

2007

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