Publications by José Santos-Victor

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Aude Billard, Nuno Ricardo Ferreira Duarte, José Santos-Victor

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte, José Santos-Victor

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

Action Anticipation: Reading the Intentions of Humans and Robots

Aude Billard, Nuno Ricardo Ferreira Duarte, José Santos-Victor

2018

Motor-Primed Visual Attention for Humanoid Robots

Aude Billard, Luka Lukic, José Santos-Victor

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

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

Towards comprehensive capture of human grasping and manipulation skills

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

Grasping plays a central role in our daily life. To interact with objects surrounding them, people use a large diversity of hand configurations in combination with forces ranging from the small ones involved in manipulating a pen for writing, to larger for ...

2014

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

Aude Billard, Luka Lukic, José Santos-Victor

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

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Auke Ijspeert, Sébastien Gay, José Santos-Victor

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

2013

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Jesse van den Kieboom, Sébastien Gay, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

Aude Billard, Luka Lukic, José Santos-Victor

Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...

2012