Robotic assistants in therapy and education of children with autism: Can a small humanoid robot help encourage social interaction skills?

Aude Billard
2005
Article

This article presents a longitudinal study with four children with autism, who were exposed to a humanoid robot over a period of several months. The longitudinal approach allowed the children time to explore the space of robot– human, as well as human–human interaction. Based on the video material documenting the interactions, a quantitative and qualitative analysis was conducted. The quantitative analysis showed an increase in duration of pre-defined behaviours towards the later trials. A qualitative analysis of the video data, observing the children’s activities in their interactional context, revealed further aspects of social interaction skills (imitation, turn-taking and role- switch) and communicative competence that the children showed. The results clearly demonstrate the need for, and benefits of, long-term studies in order to reveal the full potential of robots in the therapy and education of children with autism.

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Aude Billard
2005
Article

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https://infoscience.epfl.ch/record/113916?ln=fr

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Teaching Physical Collaborative Tasks: Object-Lifting Case Study with a Humanoid

Aude Billard, Sylvain Calinon, Elena Gribovskaya

This paper presents the application of a statistical framework that allows to endow a humanoid robot with the ability to perform a collaborative manipulation task with a human operator. We investigate to what extent the dynamics of the motion and the haptic communication process that takes place during physical collaborative tasks can be encapsulated by the probabilistic model. This framework encodes the dataset in a Gaussian Mixture Model, which components represent the local correlations across the variables that characterize the task. A set of demonstrations is performed using a bilateral coupling teleoperation setup; then the statistical model is trained in a pure follower/leader role distribution mode between the human and robot alternatively. The task is reproduced using Gaussian Mixture Regression. We present the probabilistic model and the experimental results obtained on the humanoid platform HRP- 2; preliminary results assess our theory on switching behavior modes in dyad collaborative tasks: when reproduced with users which were not instructed to behave in either a follower or a leader mode, the robot switched automatically between the learned leader and follower behaviors.

IEEE2009

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Active Teaching in Robot Programming by Demonstration (Ro- Man'2007 best paper award)

Aude Billard, Sylvain Calinon

Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and present a probabilistic framework for RbD which allows to extract incrementally the essential characteristics of a task described at a trajectory level. To demonstrate the feasibility of our approach, we present two experiments where new manipulation skills are transferred to a humanoid robot by using active teaching methods that put the human teacher in the loop of the robot's learning. The robot first observes the task performed by the user (through motion sensors) and the robot's skill is then refined by embodying the robot and putting it through the motion (kinesthetic teaching).

2007

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The Vernissage Corpus: A Multimodal Human-Robot-Interaction Dataset

Daniel Gatica-Perez, Dinesh Babu Jayagopi, Laurent Son Nguyen, Jean-Marc Odobez, Samira Sheikhi

We introduce a new multimodal interaction dataset with extensive annotations in a conversational Human-Robot-Interaction (HRI) scenario. It has been recorded and annotated to benchmark many relevant perceptual tasks, towards enabling a robot to converse with multiple humans, such as speaker localization, key word spotting, speech recognition in audio domain; tracking, pose estimation, nodding, visual focus of attention estimation in visual domain; and an audio-visual task such as addressee detection. Some of the above mentioned tasks could benefit from information sensed from several modalities and recorded states of the robot. As compared to recordings done with a static camera, this corpus involves the head-movement of a humanoid robot (due to gaze change, nodding), making it challenging for tracking. Also, the significant background noise present in a real HRI setting makes tasks in the auditory domain more challenging. From the interaction point of view, our scenario, where the robot explains paintings in a room and then quizzes the participants, allows to analyze the quality of the interaction and the behavior of the human interaction partners.

2012

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vignette|Atlas (2013), robot androïde de Boston Dynamics vignette|Bras manipulateurs dans un laboratoire (2009) vignette|NAO (2006), robot humanoïde éducatif d'Aldebaran Robotics vignette|DER1 (2005),

Robotique

thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de

Humanoid robot

A humanoid robot is a robot resembling the human body in shape. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as t