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Aude Billard

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Publications associées (263)

Multi-Arm Self-Collision Avoidance: A Sparse Solution for a Big Data Problem

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

In this work, we propose a data-driven approach for real-time self-collision avoidance in multi-arm systems. The approach consists of modeling the regions in joint-space that lead to collisions via a Self-Collision Avoidance (SCA) boundary and use it as a ...

2018

Boosting Robot Learning and Control with Domain Constraints

Aude Billard, Hang Yin, Ana Paiva

RSS2018

Modeling Compositions of Impedance-based Primitives via Dynamical Systems

Aude Billard, Nadia Barbara Figueroa Fernandez

In this work, we introduce a novel Dynamical System (DS)-based approach for modeling complex and compliant manipulation tasks, that are composed of a sequence of action phases with different compliance requirements; i.e. impedance primitives. We adopt a cl ...

2018

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Thomas Triquet

In this work, we present an adaptive motion planning approach for impedance-controlled robots to modify their tasks based on human physical interactions. We use a class of parameterized time-independent dynamical systems for motion generation where the mod ...

2018

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Aude Billard, Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez, Yonadav Goldwasser Shavit

In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...

2018

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Aude Billard, Seyed Sina Mirrazavi Salehian

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 ...

2018

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects with Variable Shape and Size

Aude Billard, Jamie Paik, Zhenishbek Zhakypov

Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the va ...

2018

A Unified Framework for Coordinated Multi-Arm Motion Planning

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

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, ...

2018

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 Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning

Aude Billard, Nadia Barbara Figueroa Fernandez

We propose a physically-consistent Bayesian non-parametric approach for fitting Gaussian Mixture Models (GMM) on trajectory data. Physical-consistency of the GMM is ensured by imposing a prior on the component assignments biased by a novel similarity metri ...

2018

Transitioning with confidence during contact/non-contact scenarios

Aude Billard, Hsiu-Chin Lin, Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez

In Proceedings of the Workshop on Towards Robots that Exhibit Manipulation Intelligence.2018

Social babbling: The emergence of symbolic gestures and words

Aude Billard, Laura Bénédicte Marine Cohen

Language acquisition theories classically distinguish passive language understanding from active language production. However, recent findings show that brain areas such as Broca's region are shared in language understanding and production. Furthermore, th ...

PERGAMON-ELSEVIER SCIENCE LTD2018

Decoding the Grasping Intention from Electromyography during Reaching Motions

Aude Billard, Iason Batzianoulis, Nili Eliana Krausz

Background: Active upper-limb prostheses are used to restore important hand functionalities, such as grasping. In conventional approaches, a pattern recognition system is trained over a number of static grasping gestures. However, training a classifier in ...

BioMed Central2018

Influence of Facial Feedback and Mind Perception During a Cooperative Human-Robot Task in Schizophrenia

Aude Billard, Mahdi Khoramshahi, Laura Bénédicte Marine Cohen

Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social ...

Nature Research2017

EMG-based decoding of grasp gestures in reaching-to-grasping motions

Aude Billard, Elvira Pirondini, Sahar El Khoury, Silvestro Micera, Martina Coscia, Iason Batzianoulis

Predicting the grasping function during reach-to-grasp motions is essential for controlling a prosthetic hand or a robotic assistive device. An early accurate prediction increases the usability and the comfort of a prosthetic device. This work proposes an ...

Elsevier2017

Capture-Point Based Balance and Reactive Omnidirectional Walking Controller

Aude Billard, Michael Bosongo Bombile

This paper proposes a capture-point based reactive omnidirectional controller for bipedal locomotion. The proposed scheme, formulated within Model Predictive Control (MPC) framework, exploits concurrently the Center of Mass (CoM) and Capture Point (CP) dyn ...

2017

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

Aude Billard

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 ...

Elsevier2017

Unravelling socio-motor biomarkers in schizophrenia

Aude Billard, Mahdi Khoramshahi, Laura Bénédicte Marine Cohen

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 ...

2017

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

Aude Billard, Jonas Buchli, Joël Rey, Klas Jonas Alfred Kronander, Farbod Farshidian

2017

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

Aude Billard, José Ramon Medina Hernandez

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

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