Publications de Aude Billard | EPFL Graph Search

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Twenty-first-century roboticists envision robots capable of sorting objects and packaging them, of chopping vegetables and folding clothes. But although many today believe that the only factors necessary for robots to achieve dexterous manipulation are data and artificial intelligence (AI), managing all the mundane manipulations that humans perform daily requires constant adaptation to changing conditions. These operations include tasks demanding millisecond-level responses to prevent irreparable damage, su

Callosal disconnection can reveal asymmetrical contributions of the two brain hemispheres to praxis. In this paper, we revisit a study of a patient with callosal disconnection (Goldenberg et al., 2001, Neuropsychologia, 39:1432–1443), who perfectly imitate ...

We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile, and proprioceptive feedback. The main objective of the proposed framework is to enable fingertip grasping by addressing problems of changed weight of the ...

We present a probabilistic approach to learn robust models of human motion through imitation. The association of Hidden Markov Model (HMM), Gaussian Mixture Regression (GMR) and dynamical systems allows us to extract redundancies across multiple demonstrat ...

In this work, we propose a dynamical system based strategy for establishing a stable contact with convex shaped surfaces during non-contact/contact scenarios. A contact is called stable if the impact occurs only once and the robot remains in contact with t ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

We propose to make a demonstration of the experimental setup that we have developed to measure human bimanual dexterity in watchmaking. These measurements and their analysis are used to develop robot controllers with similar dexterity. Next we explain the ...

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 ...

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 ...

In this paper we present a solution for eye gaze detection from a wireless head mounted camera designed for children aged between 6 months and 18 months. Due to the constraints of working with very young children, the system does not seek to be as accurate ...

This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In particular, it requires that the robot bears a human likene ...

In this paper, we extend the Hopfield Associative Memory for storing multiple sequences of varying duration. We apply the model for learning, recognizing and encoding a set of human gestures. We measure systematically the performance of the model against n ...

The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term vision is to provi ...

We study the Acceleration Obstacle (AO) as a concept to enable a robot's navigation in human crowds. The AO's geometric properties are analyzed and a direct sampling-free algorithm is proposed to approximate its boundary by linear constraints. The resultin ...

Aude Billard

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In good hands: A case for improving robotic dexterity

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

Revisiting a study of callosal apraxia: The right hemisphere can imitate the orientation but not the position of the hand

Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation

Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression

Boosting Robot Learning and Control with Domain Constraints

Transitioning with confidence during contact/non-contact scenarios

Hitting with Different Joints of a Robotic Manipulator

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

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

Neural Model of the Transformation from Allo-centric to Ego- centric Representation of Motions

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Calibration-Free Eye Gaze Direction Detection with Gaussian Processes

Design of a Biomimetic Upper Body for the Humanoid Robot Robota

An Under Actuated Robotic Arm with Adjustable Stiffness Shape Memory Polymer Joints

Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition

From joint-attention to joint-action: Effects of gaze on human following motion

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

Robots' Motion Planning in Human Crowds by Acceleration Obstacles