Publication
Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it
Publications associées (50)
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 ...
2023Adaptive Task-Space Force Control for Humanoid-to-Human Assistance
We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021Learning (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 & DEVELOPMENT2020Robot Agreeableness and User Engagement in Verbal Human-Robot Interaction
It is a well-established fact in the field of Human-Robot Interaction that the personality a social robot is endowed with (i.e., the one it expresses by its gestures and words) plays a key role towards the engagement experienced by any person interacting w ...
IEEE2020A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots
Aude Billard, Mikhail Koptev, Salman Faraji, Nadia Barbara Figueroa Fernandez
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 ...
IEEE2020Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control
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 ...
EPFL2019Learning Task Priorities from Demonstrations
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 ...
2019Design of a Flexible Articulated Robotic Hand for a Humanoid Robot
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 ...
IEEE2019Object Grasping of Humanoid Robot Based on YOLO
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 AG2019Scalable closed-form trajectories for periodic and non-periodic human-like walking
We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...
IEEE2019