Publications de Aude Billard | EPFL Graph Search

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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 ...

If you were to ask a random passerby to describe what a robot is made of and how it is powered, they would likely tell you that a robot is made of metal and requires electricity to operate. Experts, however, would likely say that robotic control systems co ...

Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feasible throw under a wide set of task specifications. We show that the mobile ...

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement a ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

In this paper, we provide an extension to our previous approach (Khansari & Billard (2012), Autonomous Robots) to perform obstacle avoidance in the presence of multiple fast moving and rotating obstacles. Our approach leverage on the notion of DS to generate robot motions that are inherently robust to perturbations and can instantly adapt to changes in the target and obstacles' positions in a dynamically moving environments. We validate our method in the challenging experiment of dodging a fast moving and r

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...

This paper addresses the problems of what to imitate and how to imitate in simple uni- and bi-manual manipulatory tasks. To solve the what to imitate issue, we use a probabilistic method, based on Hidden Markov Models, for extracting the relative importanc ...

The goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in ...

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 ...

This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate ...

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 ...

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...

This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations, for example correspondence issues between the robot and demonstrator, can degrade poli ...

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

We present here a head-mounted gaze tracking system for the study of visual behavior in unconstrained environments. The system is designed both for adults and for infants as young as 1 year of age. The system uses two CCD cameras to record a very wide fiel ...

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In ou ...

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

Predicting the grasping function during reach-to-grasp motions is essential for controlling a prosthetic hand or a robotic assistive device. An early accurate prediction increases the usability and the comfort of a prosthetic device. This work proposes an ...

Aude Billard

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

Designing and using robots for environmental sustainability

A Solution to Adaptive Mobile Manipulator Throwing

Tactile Guidance for Policy Refinement and Reuse

Self-Correcting Quadratic Programming-Based Robot Control

Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach

On Computing Task-Oriented Grasps

Discriminative and Adaptive Imitation in Uni-Manual and Bi-Manual Tasks

End-Point Impedance Measurements Across Dominant and Nondominant Hands and Robotic Assistance with Directional Damping

On the Generation of a Variety of Grasps

On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts

Investigating Gaze of Children with ASD in Naturalistic Settings

Learning Dynamical System Modulation for Constrained Reaching Tasks

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

Policy Adaptation through Tactile Correction

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

A Wearable Gaze Tracking System for Children in Unconstrained Environments

Dexterous grasping under shape uncertainty

Dynamical system approach to navigation around obstacles

EMG-based decoding of grasp gestures in reaching-to-grasping motions