Publications de Aude Billard | EPFL Graph Search

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Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

Objective. The limited functionality of hand prostheses remains one of the main reasons behind the lack of its wide adoption by amputees. Indeed, while commercial prostheses can perform a reasonable number of grasps, they are often inadequate for manipulat ...

We consider the problem of incrementally learning different strategies of performing a complex sequential task from multiple demonstrations of an expert or a set of experts. While the task is the same, each expert differs in his/her way of performing it. W ...

In human grasping, choices are made on the use of hand-parts even before a grasp is realized. The human associates these choices with end-functionality and is confident that the resulting grasp will be able to meet task requirements. We refer to these choi ...

Praxic functions are frequently altered following brain lesion, giving rise to apraxia - a complex pattern of impairments that has proven difficult to assess or interpret. Here we revisit a study on imitation of meaningless gestures in a patient with disconnected brain hemispheres. We performed extensive statistical analyses over several objective geometrical variables (e.g. hand orientation) that revealed a clear dissociation in the performance of imitating different goals. Our results show that the right

In this paper we present a computer based approach to analysis of social interaction experiments for the diagnosis of autism spectrum disorders in young children of 6-18 months of age. We apply face detection on videos from a head-mounted wireless camera t ...

We present novel, low-cost and non-invasive potential diagnostic biomarkers of schizophrenia. They are based on the 'mirrorgame', a coordination task in which two partners are asked to mimic each other's hand movements. In particular, we use the patient's ...

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

Real time planning strategy is crucial for robots working in dynamic environments. In particular, robot grasping tasks require quick reactions in many applications such as human-robot interaction. In this paper, we propose an approach for grasp learning that enables robots to plan new grasps rapidly according to the object’s position and orientation. This is achieved by taking a three-step approach. In the first step, we compute a variety of stable grasps for a given object. In the second step, we propose a

Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...

We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

In this paper we focus on human-robot interaction particularities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presen ...

In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be n ...

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

A frequent method for taking into account the partially observable nature of an environment in which robots interact lies in formulating the problem domain as a Partially Observable Markov Decision Process (POMDP). By having humans demonstrate how to act i ...

Coordination is essential in the design of dynamic control strategies for multi-arm robotic systems. Given the complexity of the task and dexterity of the system, coordination constraints can emerge from different levels of planning and control. Primarily, ...

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the balance between computational efficiency and accuracy for signed distance queries conditioned on the robot's configuration for each link. Compared to the baseline method, the proposed approach achieves an 81.1% reduction in distance error while utilizing only 47.6% of model

We present algorithms for inferring the cost function and reference trajectory from human demonstrations of hand-writing tasks. These two key elements are then used, through optimal control, to generate an impedance-based controller for a robotic hand . Th ...

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

Aude Billard

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Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

EMG-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses

Transfer in Inverse Reinforcement Learning for Multiple Strategies

Recognizing the grasp intention from human demonstration

What apraxia tells us about the brain hemispheres’ contributions to human imitation

Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism

Unravelling socio-motor biomarkers in schizophrenia

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Learning a Real Time Grasping Strategy

Active Teaching in Robot Programming by Demonstration

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration

Recent Advances in Robot Learning from Demonstration

Learning dynamical systems with bifurcations

Learning search behaviour from humans

A Unified Framework for Coordinated Multi-Arm Motion Planning

Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions

Learning Cost Function and Trajectory for Robotic Writing Motion

An objective skill assessment framework for microsurgical anastomosis based on ALI scores