Publications by Micha Hersch | EPFL Graph Search

Iterative Estimation of Rigid-Body Transformations Application to Robust Object Tracking and Iterative Closest Point

Closed-form solutions are traditionally used in computer vision for estimating rigid body transformations. Here we suggest an iterative solution for estimating rigid body transformations and prove its global convergence. We show that for a number of applic ...

Springer Verlag2012

Adaptive sensorimotor peripersonal space representation and motor learning for a humanoid robot

Micha Hersch

This thesis presents possible computational mechanisms by which a humanoid robot can develop a coherent representation of the space within its reach (its peripersonal space), and use it to control its movements. Those mechanisms are inspired by current the ...

EPFL2009

Reaching with Multi-Referential Dynamical Systems

Micha Hersch, Aude Billard

We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two co ...

2008

Online learning of the body schema

Micha Hersch, Aude Billard, Eric Sauser

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

Iterative rigid body transformation estimation for visual 3-D object tracking

Micha Hersch, Aude Billard

We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this algorithm is that it does not assume that the markers are tr ...

2008

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the envir ...

2008

Learning Dynamical System Modulation for Constrained Reaching Tasks

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

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

A Model for Imitating Human Reaching Movements

Micha Hersch, Aude Billard

We present a model of human-like reaching movements. This model is then used to give a humanoid robot the ability to imitate human reaching motions. It illustrates that having a robot control similar to human control can greatly ease the human-robot intera ...

2006

A Biologically-Inspired Model of Reaching Movements

Micha Hersch, Aude Billard

This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biologi ...

2006

Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition

Micha Hersch, Aude Billard, André Maurer

In this paper, we extend the Hopfield Associative Memory for storing multiple sequences of varying duration. We apply the model for learning, recognizing and encoding a set of human gestures. We measure systematically the performance of the model against n ...

2005