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Self-Correcting Quadratic Programming-Based Robot Control

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A Windows PC based robot controller: An open architecture

Reymond Clavel, Mohamed Bouri

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

2005

Goal-Directed Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

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". This paper presents a method by which a robot extracts t ...

2005

Robots as Assistive Technology - Does Appearance Matter?

This paper studies the effect of a robot’s design (appearance) in facilitating and encouraging interaction of children with autism with a small humanoid robot. The paper compares the children’s level of interaction with and response to the robot in two dif ...

2004

Effects of repeated exposure of a humanoid robot on children with autism

Aude Billard

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 interacting with computers, e.g. (Powell, 1996). In most o ...

Springer-Verlag2004

Topological Global Localization and Mapping with Fingerprint and Uncertainty

Roland Siegwart, Nicola Tomatis, Adriana Tapus

Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper ...

2004

Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota

Aude Billard, André Guignard

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, providing miniature humanoids with the same sensorimotor capab ...

2004

Discovering Optimal Imitation Strategies

Aude Billard, Sylvain Calinon

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 a hierarchical optimization system, which minimizes the d ...

2004

Multi-Robot Human-Interation and Visitor Flow Management

Roland Siegwart, Björn Jensen, Guy Ramel

In this paper we address the task of human-robot interaction in public mass exposition with several autonomous robots at a time. This implies questions regarding multi-robot control and interaction management with respect to social and commercial aspects o ...

2003

PDA Interface for Humanoid Robots

Aude Billard, Sylvain Calinon

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 recognition and natural speech processing. Unfortunately, ...

2003

Designing a Secure and Robust Mobile Interacting Robot for the Long Term

Roland Siegwart, Nicola Tomatis, Grégoire Terrien, Kai Oliver Arras

This paper presents the genesis of RoboX. This tour guide robot has been built from the scratch based on the experience of the Autonomous Systems Lab. The production of 11 of those machines has been realized by a spin-off of the lab: BlueBotics SA. The goa ...

2003