Publications by Nuno Ricardo Ferreira Duarte

Non-verbal Communication between Humans and Robots: Imitation, Mutual Understanding and Inferring Object Properties

Humans can express their actions and intentions, resorting to verbal and/or non-verbal communication. In verbal communication, humans use language to express, in structured linguistic terms, the desired action they wish to perform. Non-verbal communication ...

EPFL2023

The Role of Object Physical Properties in Human Handover Actions: Applications in Robotics

Aude Billard, Nuno Ricardo Ferreira Duarte

Observing how humans interact with each other and how they manipulate objects, offer insight on interaction mechanisms and how these are influenced by the physical properties of the used objects. These insights can support a more informed design of robot c ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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

Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling

Pascal Frossard, Aude Billard, Andrea Cavallaro, Apostolos Modas, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte

The real-time estimation through vision of the physical properties of objects manipulated by humans is important to inform the control of robots for performing accurate and safe grasps of objects handed over by humans. However, estimating the 3D pose and d ...

2020

Action Anticipation: Reading the Intentions of Humans and Robots

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

2018