Publications de Aude Billard | EPFL Graph Search

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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 ...

Teaching robots new skills should be as natural as showing rather than programming. Learning from demonstration (LfD) moves toward this goal by allowing users to guide a robot or sketch a desired motion, enabling learning without writing a line of code. However, most LfD methods remain tied to the robot they were trained on. Changes in morphology, different link lengths, joint orientations, or limits often break the learned behavior, making retraining unavoidable. Here, we introduce a framework that endows

The goal of this work is to enable robots to intelligently and compliantly adapt their motions to the intention of a human during physical Human-Robot Interaction (pHRI) in a multi-task setting. We employ a class of parameterized dynamical systems that all ...

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 ...

Redundant robots, with more degrees of freedom than required for a given task, offer enhanced dexterity but can exhibit complex kinematic behaviour in motion planning. Cuspidal robots, which can change inverse kinematic solutions without crossing singularities, have been reported to pose unique challenges for motion feasibility and repeatability. While cuspidality has been extensively studied for 3R and certain 6R robots, no formal classification exists for redundant architectures. This letter presents a sy

This paper explores the issue of recognizing, generalizing and reproducing arbitrary gestures. We aim at extracting a representation that encapsulates only the key aspects of the gesture and discards the variability intrinsic to each person's motion. We co ...

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

This study investigates attention orienting to social stimuli in children with Autism Spectrum Conditions (ASC) during dyadic social interactions taking place in real-life settings. We study the effect of social cues that differ in complexity and distingui ...

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 ...

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 ...

Therapeutic and educational applications of robots have created a demand for robots showing a number of social skills. These skills include the capacity to imitate, to learn from demonstration, to interpret gestures and to recognize speech. Robot toys are an ideal platform to investigate the potential and limitations of human-robot social interactions. This paper presents Robota, a mini- humanoid doll-shaped robot. Robota is used in an introductory robotics class at the undergraduate level. The class offers

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

In this paper, we report on a study on gaze behavior by children with Autism Spectrum Disorder (ASD) during a dyadic interaction in a naturalistic environment. Twelve children with ASD were contrasted to twelve typically developing (TD) children, in a semi ...

The widespread deployment of mobile service robots in public environments and the growing use of autonomy as control modality will increase the exposure to hazards for people simply sharing the robot floor. The need to ensure safety becomes an ethical and legal obligation for designers. However, current safety requirements are mostly focused on the end-users of robot services, while pedestrians are often not addressed in safety standard requirements. In this paper, we propose a preliminary method for assess

Apraxia is a poorly understood disorder of voluntary movement that is not due to basic sensory, motor or cognitive deficits. We conducted a study on the imitation of meaningless gestures in apraxic patients with left fronto-temporo-parietal lesions. In a first condition, the patients were instructed to imitate the orientation and position of a hand touching the face (complex task). In a second condition, the patients were instructed to solely imitate the position of contact between the face and hand, using

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 ...

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 ...

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 ...

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

We present a model of human-like reaching movements. This model is then used to give a humanoid robot the ability to imitate human reaching motions. It illustrates that having a robot control similar to human control can greatly ease the human-robot intera ...

Aude Billard

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

Demonstrate once, execute on many: Kinematic intelligence for cross-robot skill transfer

A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction

Hand Impedance Measurements During Interactive Manual Welding With a Robot

Cuspidal Redundant Robots: Classification of Infinitely Many IKS of Special Classes of 7R Robots

Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM

A Humanoid Robot Drawing Human Portraits

Social orienting of children with autism to facial expressions and speech: a study with a wearable eye-tracker in naturalistic settings

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

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

Robota: Clever Toy and Educational Tool

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Measuring Gaze of Children with Autism Spectrum Disorders in Naturalistic Interactions

Physical Safety in Collisions Between Robots and Pedestrians

The variability of contact position errors in apraxic imitation

Stability Considerations for Variable Impedance Control

Incremental motion learning with locally modulated dynamical systems

On the Evolution of Fingertip Grasping Manifolds

Graph signature for self-reconfiguration planning

A Model for Imitating Human Reaching Movements