Publication
Discrete and Rhythmic Motor Primitives for the Control of Humanoid Robots
Related publications (50)
Biologically inspired kinematic synergies enable linear balance control of a humanoid robot
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
2011Motion Teaching Method for Complex Robot Links Using Motor Current
Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could be set up ...
2010Adaptive sensorimotor peripersonal space representation and motor learning for a humanoid robot
This thesis presents possible computational mechanisms by which a humanoid robot can develop a coherent representation of the space within its reach (its peripersonal space), and use it to control its movements. Those mechanisms are inspired by current the ...
EPFL2009Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework
Aude Billard, Sylvain Calinon, Florent D'Halluin
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
2009Learning and Control of UAV maneuvers Based on Demonstrations
Aude Billard, Seyed Mohammad Khansari Zadeh
Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...
2009Motion autonomy for humanoids: experiments on HRP-2 No. 14
This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...
2009MODEM: a multi-agent hierarchical structure to model the human motor control system
Abstract In this study, based on behavioral and neurophysiological facts, a new hierarchical multi-agent architecture is proposed to model the human motor control system. Performance of the proposed structure is investigated by simulating the control of si ...
2009Brain-Controlled Robots
The idea of moving robots or prosthetic devices not by manual control, but by mere thinking (i.e., the brain activity of human subjects) has fascinated researchers for the last 30 years, but it is only now that first experiments have shown the possibility ...
2008Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot
Aude Billard, Elena Gribovskaya
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 systems: a learning system that processes data collected during ...
2008A framework integrating statistical and social cues to teach a humanoid robot new skills
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 designed for humans. Compared to their industrial homologous ...
2008