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Reflexive stability control framework for humanoid robots

Publications associées (104)

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Online learning of the body schema

Aude Billard, Eric Sauser, Micha Hersch

We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...

2008

A miniature 7g jumping robot

Dario Floreano, André Guignard, Mirko Kovac, Jean-Christophe Zufferey, Martin Fuchs

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles as h ...

2008

A point-wise model of adhesion suitable for real-time applications of bio-inspired climbing robot

Auke Ijspeert

Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale a ...

2008

Climbing robot with glue feet

Thierry Barras

Le but de ce projet est de réaliser un prototype de robot se déplacant sur la base de pied à colle développés lors d’un projet de semestre précédent. Ces pieds à colle sont en réalité de simples résistances que l’on va chauffer en faisant passer du courant ...

2008

Climbing robot with magnetic caterpillar

Olivier Truong-Dat Nguyen

A climbing robot using magnetic caterpillars is developed and constructed. It allows to move on ferromagnetic materials in any orientation, and to make inner plan transition. The achieved friction force is very high. ...

2008

Incremental Learning of Gestures by Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting signals in a Gaussian Mixture Model (GMM). We compare the per ...

2007

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Learning of Gestures by Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

In this chapter, we explore the issue of encoding, recognizing, generalizing and reproducing arbitrary gestures. We address one major and generic issue, namely how to discover the essence of a gesture, i.e. how to find a representation of the data that enc ...

Cambridge University Press2007

Teaching a Humanoid Robot to Recognize and Reproduce Social Cues

Aude Billard, Sylvain Calinon

In a Robot Programming by Demonstration framework, several demonstrations of a task are required to generalize and reproduce the task under different circumstances. To teach a task to the robot, explicit pointers are required to signal the start/end of a d ...

2006

Learning Dynamical System Modulation for Constrained Reaching Tasks

Aude Billard, Sylvain Calinon, Micha Hersch

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...

2006