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Aude Billard

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Publications associées (263)

On Computing Task-Oriented Grasps

Aude Billard, Sahar El Khoury, Ravin Luis De Souza

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...

Elsevier2015

Robotic training for hand movements during manual welding with real-time alarm feedback

Aude Billard, Mustafa Suphi Erden

Purpose - The purpose of this study is to develop a robotic training system for the hand movements during manual welding. The system provides real-time notice-feedback with sound or light alarms, whenever the welding hand vibrates beyond the nominal level ...

Emerald2015

Task Parameterization Using Continuous Constraints Extracted From Human Demonstrations

Aude Billard, Ana-Lucia Ureche

In this work we propose an approach for learning task specifications automatically, by observing human demonstrations. Using this allows a robot to combine representations of individual actions to achieve a high-level goal. We hypothesize that task specifi ...

Institute of Electrical and Electronics Engineers2015

Incremental motion learning with locally modulated dynamical systems

Aude Billard, Klas Jonas Alfred Kronander

Dynamical Systems (DS) for robot motion modeling are a promising approach for efficient robot learning and control. Our focus in this paper is on autonomous dynamical systems, which represent a motion plan without dependency on time. We develop a method th ...

Elsevier2015

EMG-based learning approach for estimating wrist motion

Aude Billard, Sahar El Khoury, Silvestro Micera, Iason Batzianoulis

This paper proposes an EMG based learning approach for estimating the displacement along the 2-axes (abduction/adduction and flexion/extension) of the human wrist in real-time. The algorithm extracts features from the EMG electrodes on the upper and forear ...

2015

From joint-attention to joint-action: Effects of gaze on human following motion

Aude Billard, Ashwini Shukla, Mahdi Khoramshahi

2015

End-Point Impedance Measurements Across Dominant and Nondominant Hands and Robotic Assistance with Directional Damping

Aude Billard, Mustafa Suphi Erden

The goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in ...

Institute of Electrical and Electronics Engineers2015

Motor-Primed Visual Attention for Humanoid Robots

Aude Billard, José Santos-Victor, Luka Lukic

We present a novel, biologically inspired, approach to an efficient allocation of visual resources for humanoid robots in a form of a motor-primed visual attentional landscape. The attentional landscape is a more general, dynamic and a more complex concept ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Recognizing the grasp intention from human demonstration

Aude Billard, José Santos-Victor, Sahar El Khoury, Ravin Luis De Souza

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 ...

Elsevier2015

EMG-Based Analysis of the Upper Limb Motion

Aude Billard, Sahar El Khoury, Silvestro Micera, Iason Batzianoulis

In a human robot interaction scenario, predicting the human motion intention is essential for avoiding inconvenient delays and for a smooth reactivity of the robotic system. In particular, when dealing with hand prosthetic devices, an early estimation of t ...

ACM2015

Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction

Aude Billard, Klas Jonas Alfred Kronander

Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use ...

Ieee Computer Soc2014

Bimanual Compliant Tactile Exploration for Grasping Unknown Objects

Aude Billard, Nicolas Sommer, Miao Li

Humans have an incredible capacity to learn properties of objects by pure tactile exploration with their two hands. With robots moving into human-centred environment, tactile exploration becomes more and more important as vision may be occluded easily by o ...

2014

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

Aude Billard, Seyed Mohammad Khansari Zadeh

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 ...

Elsevier2014

Catching Objects in Flight

Aude Billard, Seungsu Kim, Ashwini Shukla

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

Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it

Aude Billard

Even the most rudimentary social cues may evoke affiliative responses in humans and promote socialcommunication and cohesion. The present work tested whether such cues of an agent may also promotecommunicative interactions in a nonhuman primate species, by ...

Springer Verlag2014

Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation

Aude Billard, Hang Yin, Miao Li, Kenji Tahara

Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issu ...

2014

Rewards-Driven Control of Robot Arm by Decoding EEG Signals

Aude Billard, José del Rocio Millán Ruiz, Ajay Kumar Tanwani

Decoding the user intention from non-invasive EEG signals is a challenging problem. In this paper, we study the feasibility of predicting the goal for controlling the robot arm in self-paced reaching movements, i.e., spontaneous movements that do not requi ...

2014

Learning search polices from humans in a partially observable context

Aude Billard, Guillaume Pierre Luc De Chambrier

Decision making and planning for which the state information is only partially available is a problem faced by all forms of intelligent entities they being either virtual, synthetic or biological. The standard approach to mathematically solve such a decisi ...

2014

Stretchable capacitive tactile skin on humanoid robot fingers - first experiments and results

Aude Billard, Nicolas Sommer, Stéphanie Lacour, Aaron Powers Gerratt

A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. U ...

2014

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Aude Billard, José Santos-Victor, Luka Lukic

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

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