Gribovskaya, E., Khansari Zadeh, S. M., Billard, A.
This work follows a recent trend in Programming by Demonstration by which the dynamics of the motion is learned. We consider control in position and orientation of an arm manipulator for non-linear...
B. Robins, K. Dautenhahn, R. Te Boekhorst, A. Billard
This article presents a longitudinal study with four children with autism who were exposed to a humanoid robot over a period of several months. The longitudinal approach allowed the children time to...
Games Children with Autism Can Play With (2008)
This paper discusses the potential use of a small, humanoid robotic doll called Robota in autism therapy. Robota was specifically designed for engaging children in imitative interaction games. This...
DOI 10.1007/s10209-005-0116-3 (2008)
Robotic assistants in therapy and education of children with autism: can a small humanoid robot help encourage social interaction skills?
The Dof-Box Project: An Educational Kit for Configurable Robots (2008)
D. Daidié, O. Barbey, A. Guignard, D. Roussy, F. Guenter, A. Ijspeert, ...
Abstract—This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to microengineering students. We present the hardware and software of the...
Reaching with Multi-Referential Dynamical Systems (2008)
We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical...
Robot Programming by Demonstration (2008)
Billard, A., Calinon, S., Dillmann, R., Schaal, S.
Robot PbD started about 30 years ago, growing importantly during the past decade. The rationale for moving from purely preprogrammed robots to very flexible user-based interfaces for training the...
We present a generic framework that combines Dynamical Systems movement control with Programming by Demon- stration (PbD) to teach a robot bimanual coordination task. The model consists of two...
Iterative rigid body transformation estimation for visual 3-D object tracking (2008)
Hersch, M., Reichert, T., Billard, A.
We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this...
Calibration-Free Eye Gaze Direction Detection with Gaussian Processes (2008)
Noris, B., Benmachiche, K., Billard, A.
In this paper we present a solution for eye gaze detection from a wireless head mounted camera designed for children aged between 6 months and 18 months. Due to the constraints of working with very...
A framework integrating statistical and social cues to teach a humanoid robot new skills (2008)
Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally...
Online learning of the body schema (2008)
Hersch, M., Sauser, E., Billard, A.
We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and...
Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations (2008)
Hersch, M., Guenter, F., Calinon, S., Billard, A.
We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes...
Auditory motion affects visual biological motion processing (2007)
Brooks, Anna, Van Der Zwan, Rick, Billard, A, Petreska, B, Clarke, S, Blanke, Olaf
The processing of biological motion is a critical, everyday task performed with remarkable efficiency by human sensory systems. Interest in this ability has focused to a large extent on biological...
On Learning, Representing and Generalizing a Task in a Humanoid Robot (2007)
Calinon, S., Guenter, F., Billard, A.
We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to...
Robot programming by demonstration (RPD) covers methods by which a robot learns new skills through human guidance. We present an interactive, multimodal RPD framework using active teaching methods...
Incremental Learning of Gestures by Imitation in a Humanoid Robot (2007)
We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting...
Learning of Gestures by Imitation in a Humanoid Robot (2007)
In this chapter, we explore the issue of encoding, recognizing, generalizing and reproducing arbitrary gestures. We address one major and generic issue, namely how to discover the essence of a...
Interferences in the Transformation of Reference Frames during a Posture Imitation Task (2007)
We present a biologically-inspired neural model addressing the problem of transformations across frames of reference in a posture imitation task. Our modeling is based on the hypothesis that...
Using Reinforcement Learning to Adapt an Imitation Task (2007)
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a...
Auditory motion affects visual biological motion processing (2007)
Brooks, A., Billard, A., Petreska, B., Clarke, S., Blanke, O.
The processing of biological motion is a critical, everyday task performed with remarkable efficiency by human sensory systems. Interest in this ability has focused to a large extent on biological...
Petreska, B., Adriani, M., Blanke, O., Billard, A.
Praxic functions are frequently altered following brain lesion, giving rise to apraxia — a complex pattern of impairments that is difficult to assess or interpret. In this chapter, we review the...
Piccardi, L., Noris, B., Barbey, O., Billard, A., Schiavone, G., Keller, F., ...
Autism covers a large spectrum of disorders that affect the individual’s way of interacting socially and is often revealed by the individual’s lack of interest in gazing at human faces. Currently...
The Dof-Box Project: An Educational Kit for Configurable Robots (2007)
Daidie, D., Barbey, O., Guignard, A., Roussy, D., Guenter, F., Ijspeert, A.J., ...
This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and...
Reinforcement Learning for Imitating Constrained Reaching Movements (2007)
Guenter, F., Hersch, M., Calinon, S., Billard, A.
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a...
Active Teaching in Robot Programming by Demonstration (Ro- Man'2007 best paper award) (2007)
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...
Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism (2007)
Noris, B., Benmachiche, K., Meynet, Julien, Thiran, Jean-Philippe, Billard, A.
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...
Auditory motion affects visual biological motion processing (2007)
Brooks, Anna, Van Der Zwan, Rick, Billard, A, Petreska, B, Clarke, S, Blanke, Olaf
The processing of biological motion is a critical, everyday task performed with remarkable efficiency by human sensory systems. Interest in this ability has focused to a large extent on biological...
Auditory motion affects visual biological motion processing (2007)
Brooks, Anna, Van Der Zwan, Rick, Billard, A, Petreska, B, Clarke, S, Blanke, Olaf
The processing of biological motion is a critical, everyday task performed with remarkable efficiency by human sensory systems. Interest in this ability has focused to a large extent on biological...
On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts (2006)
Calinon, S., Guenter, F., Billard, A.
This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing...
Dynamical principles for neuroscience and intelligent biomimetic devices (2006)
Ijspeert, A.J., Buchli, J., Selverston, A., Rabinovich, M., Hasler, M., Gerstner, W., ...
Teaching a Humanoid Robot to Recognize and Reproduce Social Cues (2006)
In a Robot Programming by Demonstration framework, several demonstrations of a task are required to generalize and reproduce the task under different circumstances. To teach a task to the robot,...
Learning Dynamical System Modulation for Constrained Reaching Tasks (2006)
Hersch, M., Guenter, F., Calinon, S., Billard, A.
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm...
Discriminative and Adaptive Imitation in Uni-Manual and Bi-Manual Tasks (2006)
Billard, A., Calinon, S., Guenter, F.
This paper addresses the problems of what to imitate and how to imitate in simple uni- and bi-manual manipulatory tasks. To solve the what to imitate issue, we use a probabilistic method, based on...
Building Robota, a Mini-Humanoid Robot for the Rehabilitation of Children with Autism (2006)
Billard, A., Robins, B., Dautenhahn, K., Nadel, J.
The Robota project constructs a series of multiple degrees of freedom doll-shaped humanoid robots, whose physical features resemble those of a human baby. The Robota robots have been applied as...
A Model for Imitating Human Reaching Movements (2006)
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...
A Biologically-Inspired Model of Reaching Movements (2006)
This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control...
Humans’ capacity to imitate has been extensively investigated through a wide-range of behavioral and developmental studies. Yet, despite the huge amount of phenomenological evidence gathered, we...
A Neurocomputational Model of an Imitation Deficit following Brain Lesion (2006)
This paper investigates the neural mechanisms of visuo-motor imitation in humans through convergent evidence from neuroscience. In particular, we consider a deficit in imitation following callosal...
Development of goal-directed imitation, object manipulation and language in humans and robots (2006)
Dynamic Updating of Distributed Neural Representations using Forward Models (2006)
In this paper, we present a continuous attractor network model, which we hypothesize will give some suggestion of the mechanisms underlying several neural processes, such as velocity tuning to visual...
Biologically Inspired Multimodal Integration: Interferences in a Human-Robot Interaction Game (2006)
This paper presents a biologically inspired approach to multimodal integration and decision-making in the context of human-robot interactions. More specifically, we address the principle of ideomotor...
Gait Analysis of Autistic Children with Echo State Networks (2006)
Noris, B., Nobile, M., Piccini, L., Molteni, M., Keller, F., Billard, A.
Poster presented at the NIPS'06 Worshop on Echo State Networks and Liquid State Machines
A Neurocomputational Model of Impaired Imitation (2006)
This abstract addresses the question of human imitation through convergent evidence from neuroscience, using tools from machine learning. In particular, we consider a deficit in imitation of...
Neural Modeling of Imitation Deficits (2006)
Petreska, B., Adriani, M., Blanke, O., Billard, A.
This abstract addresses the question of human imitation through convergent evidence from neuroscience. We look at deficits in imitation following brain lesion, such as apraxia. We believe that...
Development of a miniature articulated arm and pair of eyes for (2006)
F. Guenter, A. Guignard, L. Piccardi, M. Calzascia, A. Billard
Figure 1: Robota’s prototype of a 7 DOF arm Humanoids remain luxurious robots, not easily purchasable or reproducible. The Robota project aims at building a low cost open humanoid platform, for use...
Trajectory Optimization by Constraints-Based Imitation (2005)
Guenter, F., Calinon, S., Billard, A.
Our work aims at developing a robust discriminant controller for robot programming by demonstration. When learning a new task by imitation, the robot must first determine what are the relevant...
Calinon, S., Billard, A., Dautenhahn, K., Nehaniv, C. L.
In this chapter, we explore the issue of encoding, recognizing, generalizing and reproducing arbitrary gestures. We address one major and generic issue, namely "how to discover the essence of a...
This work follows from a research project, in which we investigate the underlying mechanisms of human imitation and develop a neural model of its core neural circuits. The present paper presents a...
Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition (2005)
Maurer, A., Hersch, M., Billard, A.
In this paper, we extend the Hopfield Associative Memory for storing multiple sequences of varying duration. We apply the model for learning, recognizing and encoding a set of human gestures. We...
Three Dimensional Frames of References Transformations using Recurrent Populations of Neurons (2005)
This work investigates whether population vector coding, a distributed computational paradigm, could be a principle mechanism for performing sensorimotor and frames of reference transformations. This...
Goal-Directed Imitation in a Humanoid Robot (2005)
Calinon, S., Guenter, F., Billard, A.
Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely "what to imitate" and "how to imitate"....
Design of a Biomimetic Upper Body for the Humanoid Robot Robota (2005)
Guenter, F., Roos, L., Guignard, A., Billard, A.
This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In...
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...
A Humanoid Robot Drawing Human Portraits (2005)
Calinon, S., Epiney, J., Billard, A.
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...
Robins, B., Dautenhahn, K., Te Boekhorst, R., Billard, A.
This article presents a longitudinal study with four children with autism, who were exposed to a humanoid robot over a period of several months. The longitudinal approach allowed the children time to...
A simple, adaptive locomotion toy-system (2004)
Buchli, J., Ijspeert, A.J., Schaal, S., Ijspeert, A.J., Billard, A., Vijayakumar, S., ...
In order to make the transfer of biological principles to engineering problems successful, it is important to study the fundamental properties of biological systems. The goal is to arrive with useful...
Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota (2004)
Pongas, D., Guenter, F., Guignard, A., Billard, A.
A growing trend in humanoid robotics tend at reducing the size of humanoids in order to lower their building costs. While growing small has its advantages, it also has drawbacks. In particular,...
Development of a miniature articulated arm and pair of eyes for the humanoid robot Robota (2004)
Guenter, F., Guignard, A., Piccardi, L., Calzascia, M., Billard, A.
Humanoids remain luxurious robots, not easily purchasable or reproducible. The Robota project aims at building a low cost open humanoid platform, for use as educational tool for normal and disabled...
Discovering Optimal Imitation Strategies (2004)
Billard, A., Epars, Y., Calinon, S., Cheng, G., Schaal, S.
This paper develops a general policy for learning relevant features of an imitation task. We restrict our study to imitation of manipulative tasks or of gestures. The imitation process is modeled as...
EDITORIAL: Robot Programming By Demonstration (2004)
Programming by demonstration (PbD) is a key research topic in robotics. It impacts both fundamental research and application-oriented studies.Work in that area tackles the development of robust...
Effects of repeated exposure of a humanoid robot on children with autism (2004)
Robins, B., Dautenhahn, K., Te Boekhorst, R., Billard, A., Keates, S., Clarkson, J., ...
This work is part of the Aurora project which investigates the possible use of robots in therapy and education of children with autism (Aurora 2003), based on findings that people with autism enjoy...
Stochastic Gesture Production and Recognition Model for a Humanoid Robot (2004)
Robot Programming by Demonstration (PbD) aims at developing adaptive and robust controllers to enable the robot to learn new skills by observing and imitating a human demonstration. While the vast...
This work investigates whether population vector coding could be a principle mechanism for sensorimotor transformations. This paper presents a formal demonstration of how population vector coding can...
Robins, B., Dautenhahn, K., Te Boekhorst, R., Billard, A.
This work is part of the Aurora project which investigates the possible use of robots in therapy and education of children with autism (Aurora 2003), based on findings that people with autism enjoy...
PDA Interface for Humanoid Robots (2003)
To fulfill a need for natural, user-friendly means of interacting and reprogramming toy and humanoid robots, a growing trend of robotics research investigates the integration of methods for gesture...
Robota: Clever Toy and Educational Tool (2003)
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...
Computational elements of robot learning by imitation (2002)
Robot learning by imitation makes an increasing body of robotics research. Imitation learning complements motor learning techniques by restricting the search space to a computationally tractable...
Games children with autism can play with robota, a humanoid robotic doll (2002)
This paper discusses the potential use of a small, humanoid robotic doll called Robota in autism therapy. Robota was specifically designed for engaging children in imitative interaction games. This...
Adaptive exploration of a dynamic environment by a group of communicating robots (1999)
Billard, A., Ijspeert, A.J., Martinoli, A., Floreano, D., Nicoud, J.D., Mondada, F.
Evolutionary robotics - a children's game (1998)
Lund, H.H., Miglino, O., Pagliarini, L., Billard, A., Ijspeert, A.J.
Evolutionary robotics - a children's game (1998)
Lund, H.H., Miglino, O., Pagliarini, L., Billard, A., Ijspeert, A.J.
none
Reactive magnetron sputtering using dc discharges simultaneously pulsed at medium-frequency (a few tenths of kHz) and modulated at low-frequency (a few Hz) enables the deposition of insulating...
Reactive magnetron sputtering using dc discharges simultaneously pulsed at medium-frequency (a few tenths of kHz) and modulated at low-frequency (a few Hz) enables the deposition of insulating...
Reactive magnetron sputtering using dc discharges simultaneously pulsed at medium-frequency (a few tenths of kHz) and modulated at low-frequency (a few Hz) enables the deposition of insulating...
Thesis (doctoral)--Faculté de médecine de Montpellier, 1908.
A probabilistic approach to learn and reproduce dynamics of human motion by imitation
Calinon, S, Caldwell, D, Billard, A, D'halluin, F
We consider the problem of learning robust models of robot motion through demonstration, and present an approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) to extract...