Publications by José Santos-Victor

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, José Santos-Victor, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

Action Anticipation: Reading the Intentions of Humans and Robots

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte

2018

Motor-Primed Visual Attention for Humanoid Robots

Aude Billard, José Santos-Victor, Luka Lukic

We present a novel, biologically inspired, approach to an efficient allocation of visual resources for humanoid robots in a form of a motor-primed visual attentional landscape. The attentional landscape is a more general, dynamic and a more complex concept ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Recognizing the grasp intention from human demonstration

Aude Billard, José Santos-Victor, Sahar El Khoury, Ravin Luis De Souza

In human grasping, choices are made on the use of hand-parts even before a grasp is realized. The human associates these choices with end-functionality and is confident that the resulting grasp will be able to meet task requirements. We refer to these choi ...

Elsevier2015

Towards comprehensive capture of human grasping and manipulation skills

Aude Billard, José Santos-Victor, Sahar El Khoury, Ravin Luis De Souza

Grasping plays a central role in our daily life. To interact with objects surrounding them, people use a large diversity of hand configurations in combination with forces ranging from the small ones involved in manipulating a pen for writing, to larger for ...

2014

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Aude Billard, José Santos-Victor, Luka Lukic

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Auke Ijspeert, Sébastien Gay, José Santos-Victor

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

2013

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Sébastien Gay, Jesse van den Kieboom, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

Aude Billard, José Santos-Victor, Luka Lukic

Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...

2012

Reaching and grasping kitchenware objects

Aude Billard, José Santos-Victor, Ashwini Shukla, Alexandre Bernardino

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector o ...

2012

Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

Auke Ijspeert, Sébastien Gay, José Santos-Victor

We present a gaze stabilization system using only visual information as feedback for a self tuning dynamical system. We describe how the dynamical system tunes its internal parameters to those of the optical ﬂow information to generate compensatory command ...

2011

Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Auke Ijspeert, Sarah Dégallier Rochat, Sébastien Gay, José Santos-Victor

In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a ...

2010