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Face classification using touch with a humanoid robot hand

Related publications (58)

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Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, we learn the feasible regions of control in the humanoid's joint space as smooth self-collision boundary functions. Collision-f ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Learning (Good Handwriting In Greek) By Teaching (A Humanoid Robot)

Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal, Thanasis Hadzilacos

We report on a follow-up study of the Co-Writer project at EPFL [1]; we confirm their findings, extend the applicability to another language with a different alphabet (Greek) and go into an in-depth qualitative study of the child-robot relationship. The co ...

IATED-INT ASSOC TECHNOLOGY EDUCATION & DEVELOPMENT2020

CoWriting Kazakh: Learning a New Script with a Robot

Pierre Dillenbourg, Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal

In the Republic of Kazakhstan, the transition from Cyrillic to Latin alphabet raises challenges to training an entire population in writing the new script. This paper presents a CoWriting Kazakh system, an extension of the existing CoWriter system, aiming ...

Association for Computing Machinery2020

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In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control

Jessica Lanini

In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...

EPFL2019

Learning Task Priorities from Demonstrations

Sylvain Calinon

As humanoid robots become increasingly popular, learning and control algorithms must take into account the new constraints and challenges inherent to these platforms, if we aim to fully exploit their potential. One of the most prominent of such aspects is ...

2019

Object Grasping of Humanoid Robot Based on YOLO

Daniel Thalmann

This paper presents a system that aims to achieve autonomous grasping for micro-controller based humanoid robots such as the Inmoov robot [1]. The system consists of a visual sensor, a central controller and a manipulator. We modify the open sourced object ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Design of a Flexible Articulated Robotic Hand for a Humanoid Robot

Daniel Thalmann, Jing Liu

It is often desirable for humanoid robots to have dexterous hands and perform human-like grasps. This requires a deliberate design of hands, in addition to a good actuation system and an efficient 3D vision system. In this paper, we present a simple method ...

IEEE2019

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Daniel Thalmann

Dexterity robotic hands can (Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging ...

Frontiers Media Sa2017