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Aude Billard

Cette personne a quitté l’EPFL

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Publications associées (258)

Page 2 sur 13

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

Aude Billard, José Santos-Victor, Luka Lukic

Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...

2012

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

Locally active globally stable dynamical systems: Theory, learning, and experiments

Aude Billard, Nadia Barbara Figueroa Fernandez

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

SAGE PUBLICATIONS LTD2022

Learning to Control Planar Hitting Motions in a Monigolf-like Task

Aude Billard, Seyed Mohammad Khansari Zadeh, Klas Jonas Alfred Kronander

A current trend in robotics is to define robot tasks using a combination of superimposed motion patterns. For maximum versatility of such motion patterns, they should be easily and efficiently adaptable for situations beyond those for which the motion was ...

IEEE2011

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024

A modular approach to learning manipulation strategies from human demonstration

Aude Billard, Miao Li, Ravin Luis De Souza

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly w ...

Springer Verlag2016

Tactile Guidance for Policy Adaptation

Aude Billard, Eric Sauser, Brenna Dee Argall

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 ...

2010

Hand-Object Interaction: From Human Demonstrations to Robot Manipulation

Aude Billard

Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar r ...

FRONTIERS MEDIA SA2021

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Aileen Charlotte Naef, Karl Gustav Henriks, Aude Billard, Seyed Sina Mirrazavi Salehian, Mahdi Khoramshahi

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...

IEEE2020

Biologically Inspired Multimodal Integration: Interferences in a Human-Robot Interaction Game

Aude Billard, Eric Sauser

This paper presents a biologically inspired approach to multimodal integration and decision-making in the context of human-robot interactions. More specifically, we address the principle of ideomotor compatibility by which observing the movements of others ...

2006

Trends and challenges in robot manipulation

Aude Billard

Our ability to grab, hold, and manipulate objects involves our dexterous hands, our sense of touch, and feedback from our eyes and muscles that allows us to maintain a controlled grip. Billard and Kragic review the progress made in robotics to emulate thes ...

American Association for the Advancement of Science2019

Influence of Saliency and Social Impairments on the Development of Intention Recognition

Aude Billard, Laura Bénédicte Marine Cohen

Among the symptoms of schizophrenia, deficits in the recognition of intention is one of the most studied. However, there is no cognitive model of intention recognition that takes into account both innate and environmental/developmental factors. This work p ...

Springer Int Publishing Ag2016

Learning Stable Task Sequences from Demonstration with Linear Parameter Varying Systems and Hidden Markov Models

Aude Billard

The problem of acquiring multiple tasks from demonstration is typi- cally divided in two sequential processes: (1) the segmentation or identification of different subgoals/subtasks and (2) a separate learning process that parameterizes a control policy for ...

robot-learning2017

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Customizing skills for assistive robotic manipulators, an inverse reinforcement learning approach with error-related potentials

Aude Billard, José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Iason Batzianoulis, Fumiaki Iwane, Carolina Gaspar Pinto Ramos Correia

Robotic assistance via motorized robotic arm manipulators can be of valuable assistance to individuals with upper-limb motor disabilities. Brain-computer interfaces (BCI) offer an intuitive means to control such assistive robotic manipulators. However, BCI ...

NATURE PORTFOLIO2021

RoBétArmé Project: Human-robot collaborative construction system for shotcrete digitization and automation through advanced perception, cognition, mobility and additive manufacturing skills

Aude Billard

The importance of construction automation has grown worldwide, aiming to deliver new machineries for the automation of roads, tunnels, bridges, buildings and earth-work construction. This need is mainly driven by (i) the shortage and rising costs of skille ...

F1000 Research Ltd2024

BM: An Iterative Method to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

We model the dynamics of non-linear discrete (i.e. point-to- point) robot motions as a time-independent system described by an autonomous dynamical system (DS). We propose an iterative algorithm to estimate the form of the DS through a mixture of Gaussian ...

2010

Apraxia: a review

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

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

Shared human–robot proportional control of a dexterous myoelectric prosthesis

Saurav Aryan, Aude Billard, Silvestro Micera, Fiorenzo Artoni, Francesco Maria Petrini, Edoardo D'Anna, Nicolas Sommer, Vincent Alexandre Mendez, Emanuele Formento, Katie Zhi Zhuang

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Such commercial devices can give users a high level of autonomy, but still do not approach the dexterity of the intact hu ...

2019