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Aude Billard

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Publications associées (263)

Learning Externally Modulated Dynamical Systems

Aude Billard, Nicolas Sommer, Klas Jonas Alfred Kronander

Dynamical Systems (DS) are often used to represent motion, with the advantage of being easy to learn from demonstrations. We present a method to modulate DS depending on an external signal, extending our previous work on Locally Modulated DS (LMDS, Kronand ...

2017

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

Dexterous grasping under shape uncertainty

Aude Billard, Miao Li

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In ou ...

Elsevier2016

Multi-contact haptic exploration and grasping with tactile sensors

Aude Billard, Nicolas Sommer

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

Elsevier2016

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

Aude Billard, Miao Li

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 ...

Institute of Electrical and Electronics Engineers2016

Open Robotics Research Using Web-based Knowledge Services

Aude Billard, Zhou Fang, Ana-Lucia Ureche, Nadia Barbara Figueroa Fernandez

In this paper we discuss how the combination of modern technologies in "big data" storage and management, knowledge representation and processing, cloud-based computation, and web technology can help the robotics community to establish and strengthen an op ...

Ieee2016

Role of Gaze Cues in Interpersonal Motor Coordination: Towards Higher Affiliation in Human-Robot Interaction

Aude Billard, Ashwini Shukla, Mahdi Khoramshahi

Background The ability to follow one another's gaze plays an important role in our social cognition; especially when we synchronously perform tasks together. We investigate how gaze cues can improve performance in a simple coordination task (i.e., the mirr ...

Public Library of Science2016

Learning Complex Sequential Tasks from Demonstration: A Pizza Dough Rolling Case Study

Aude Billard, Ana-Lucia Ureche, Nadia Barbara Figueroa Fernandez

This paper introduces a hierarchical framework that is capable of learning complex sequential tasks from human demonstrations through kinesthetic teaching, with minimal human intervention. Via an automatic task segmentation and action primitive discovery a ...

Ieee2016

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

Passive Interaction Control With Dynamical Systems

Aude Billard, Klas Jonas Alfred Kronander

Autonomous dynamical systems (DS) has emerged as an extremely flexible and powerful method for modeling robotic tasks. Task execution of DS models is typically done in an open-loop manner in combination with standard low level controller, e.g. position con ...

2016

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

Towards Reproducing Humans' Exquisite Dexterity and Reactivity

Aude Billard

Our homes, offices and urban surroundings are carefully built to be inhabited by us, humans. Tools and furniture are designed to be easily manipulated by the human hand. Floors and stairs are modeled for human-sized legs. For robots to work seamlessly in o ...

Assoc Computing Machinery2016

Stability Considerations for Variable Impedance Control

Aude Billard, Klas Jonas Alfred Kronander

Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which ...

Ieee-Inst Electrical Electronics Engineers Inc2016

On the Evolution of Fingertip Grasping Manifolds

Aude Billard

Efficient and accurate planning of fingertip grasps is essential for dexterous in-hand manipulation. In this work, we present a system for fingertip grasp planning that incrementally learns a heuristic for hand reachability and multi-fingered inverse kinem ...

Ieee2016

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

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty (RSS 2016 Best Student Paper Award)

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

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using mul ...

2016

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 com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly ...

Springer Verlag2016

Synthesizing Robotic Handwriting Motion by Learning from Human Demonstrations

Aude Billard, Hang Yin, Ana Paiva

This paper contributes a novel framework that enables a robotic agent to efficiently learn and synthesize believable handwriting motion. We situate the framework as a foundation with the goal of allowing children to observe, correct and engage with the rob ...

2016

Hand Impedance Measurements During Interactive Manual Welding With a Robot

Aude Billard, Mustafa Suphi Erden

This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice manual welders, when they are performing tungsten inert gas (TIG) welding interactively with the KUKA lightweight robot arm (LWR). The results sh ...

Ieee-Inst Electrical Electronics Engineers Inc2015

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

Aude Billard, Jamie Paik, Amir Firouzeh, Seyed Sina Mirrazavi Salehian

2015

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