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Aude Billard

Cette personne a quitté l’EPFL

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Publications associées (258)

Page 5 sur 13

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

Aude Billard, Lukas Huber

This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prov ...

2019

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, we learn the feasible regions of control in the humanoid's joint space as smooth self-collision boundary functions. Collision-f ...

2021

Using a head-mounted camera to infer attention direction

Aude Billard

A head-mounted camera was used to measure head direction. The camera was mounted to the forehead of 20 6- and 20 12-month-old infants while they watched an object held at 11 horizontal (-80 degrees to + 80 degrees) and 9 vertical (-48 degrees to + 50 degre ...

Sage Publications Ltd2013

Reach-to-grasp motions: Towards a dynamic classification approach for upper-limp prosthesis

Aude Billard, Iason Batzianoulis

During reach-to-grasp motions,the Electromyographic (EMG) activity of the arm varies depending on motion stage. The variability of the EMG signals results in low classification accuracy during the reaching phase, delaying the activation of the prosthesis. ...

IEEE2019

Iterative Learning of Grasp Adaptation through Human Corrections

Aude Billard, Eric Sauser, Brenna Dee Argall

In the context of object interaction and manipulation, one characteristic of a robust grasp is its ability to comply with external perturbations applied to the grasped object while still maintaining the grasp. In this work we introduce an approach for gras ...

Elsevier2012

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

Aude Billard, Seyed Sina Mirrazavi Salehian

Many daily life tasks require precise control when making contact with surfaces. Ensuring a smooth transition from free motion to contact is crucial as incurring a large impact force may lead to unstable contact with the robot bouncing on the surface, i.e. ...

2018

A Survey of Tactile Human-Robot Interactions

Aude Billard, Brenna Dee Argall

Robots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. ...

Elsevier2010

Three Dimensional Frames of References Transformations using Recurrent Populations of Neurons

Aude Billard, Eric Sauser

This work investigates whether population vector coding, a distributed computational paradigm, could be a principle mechanism for performing sensorimotor and frames of reference transformations. This paper presents a multilayer neural network that can perf ...

2005

Effects of Task Conditions on Human Hand Pose Selection Strategies in a Bimanual Fine Manipulation Task

Aude Billard, Kunpeng Yao

Many manipulations in human everyday activities rely on the collaboration of our two hands. Bimanual fine manipulation tasks are particularly demanding when precise coordination among fingers of both hands are required. Yet, despite the abundant degrees of ...

Society for Neural Control of Movement2022

Face classification using touch with a humanoid robot hand

Aude Billard, Nicolas Sommer

This paper presents an experiment in which the iCub humanoid robot learns to recognize faces through proprioceptive information. We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face. Th ...

2012

Auditory motion affects visual biological motion processing

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

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

View Sensitive Cells as a Neural Basis for the Representation of Others in a Self-Centered Frame of Reference

Aude Billard, Eric Sauser

This work follows from a research project, in which we investigate the underlying mechanisms of human imitation and develop a neural model of its core neural circuits. The present paper presents a model of a neural mechanism by which an imitator agent can ...

2005

Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control

Aude Billard, Mahdi Khoramshahi, Ashwini Shukla

Many daily tasks involve spatio-temporal coordination between two agents. Study of such coordinated actions in human-human and human-robot interaction has received increased attention of late. In this work, we use the mirror paradigm to study coupling of h ...

2014

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte, Konstantinos Chatzilygeroudis

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding

Aude Billard, Mustafa Suphi Erden

In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogra ...

Institute of Electrical and Electronics Engineers2016

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Diego Felipe Paez Granados, Pericle Salvini

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2022

Four-Arm Manipulation via Feet Interfaces

Aude Billard, Hannes Bleuler, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez, Anaïs Betsabeh Haget

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

AAAI2019

Dynamical System-based Motion Planning for Multi-Arm Systems: Reaching for moving objects

Aude Billard, Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez

The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al. ...

2017

An attention framework for learning by interaction in developmental embodied agents

Aude Billard

2006

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014