Publications de Aude Billard | EPFL Graph Search

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Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. Furthermore, a human provides only few de ...

Compliance has become a key requirement for robots meant to interact with humans. It is viewed as a necessary property to increase safety and efficiency in human-robot cooperative actions. In humans, compliance takes three dimensions: mechanical, cognitive ...

Poster presented at the NIPS'06 Worshop on Echo State Networks and Liquid State Machines

Traditionally performed by skilled nozzle opera-tors, shotcrete remains a painful and risky task, where recurrent physical discomfort leads to severe and long-term health issues. When performed by novices or ill-trained workers, it can lead to waste. The s ...

This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evalu ...

This paper proposes a manipulation scheme based on learning the motion of objects after being hit by a robotic end-effector. This allows for the object to be positioned at a desired location outside the physical workspace of the robot. An estimate of the o ...

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector o ...

Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use ...

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

This paper presents the application of a statistical framework that allows to endow a humanoid robot with the ability to perform a collaborative manipulation task with a human operator. We investigate to what extent the dynamics of the motion and the hapti ...

We present a new formulation for autonomous (i.e. time-independent) Dynamical Systems (DS) to perform discrete robot motions with em non-zero velocity at a given target. The proposed model ensures the convergence of all trajectories to the target, and is inherently robust to perturbations. We evaluated the performance of our proposed method to control right-handed swings in mini-golf.

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the ...

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 ...

Even the most rudimentary social cues may evoke affiliative responses in humans and promote socialcommunication and cohesion. The present work tested whether such cues of an agent may also promotecommunicative interactions in a nonhuman primate species, by ...

We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...

Humans have an incredible capacity to learn properties of objects by pure tactile exploration with their two hands. With robots moving into human-centred environment, tactile exploration becomes more and more important as vision may be occluded easily by o ...

Social robotic assistants have been widely studied and deployed as telepresence tools or caregivers. Evaluating their design and impact on the people interacting with them is of prime importance. In this research, we evaluate the usability and impact of AR ...

Aude Billard

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Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators [accepted]

On the mechanical, cognitive and sociable facets of human compliance and their robotic counterparts

Gait Analysis of Autistic Children with Echo State Networks

Transferring Shotcrete Skills to Robots

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Learning to Hit: A statistical Dynamical System based approach

Challenges in designing the body and the mind of an interactive robot

Reaching and grasping kitchenware objects

Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction

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

Teaching Physical Collaborative Tasks: Object-Lifting Case Study with a Humanoid

Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Probabilistic Depth Image Registration incorporating Nonvisual Information

Safety Issues in Human-Robot Interactions

Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it

Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators

Attention mechanisms for the imitation of goal-directed action in developmental robots

Bimanual Compliant Tactile Exploration for Grasping Unknown Objects

Evaluation of an Industrial Robotic Assistant in an Ecological Environment