Publications associées à Behavior-based robotics

VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior

Sylvain Calinon, Julius Maximilian Jankowski

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are sufficiently high ...

IEEE2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

A biohybrid interaction framework for the integration of robots in animal societies

Francesco Mondada, Daniel Burnier, Vaios Papaspyros, Raphael Cherfan

The collective behavior of animals has been traditionally studied through observation, quantitative models of behavior, and devices of low intelligence. Nowadays, the advancements in the field of robotics allow for closed-loop experiments that occur in rea ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Combining robotics with enhanced serotonin-driven cortical plasticity improves post-stroke motor recovery

Silvestro Micera, Stefano Lai, Maria Pasquini, Sara Conti, Marco Mainardi

Despite recent progresses in robotic rehabilitation technologies, their efficacy for post-stroke motor recovery is still limited. Such limitations might stem from the insufficient enhancement of plasticity mechanisms, crucial for functional recovery. Here, ...

PERGAMON-ELSEVIER SCIENCE LTD2021

What if Social Robots look for Productive Engagement?

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir

In educational HRI, it is generally believed that a robots behavior has a direct effect on the engagement of a user with the robot, the task at hand and also their partner in case of a collaborative activity. Increasing this engagement is then held respons ...

2022

A Social Robot That Looks For Productive Engagement

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir

In educational HRI, it is generally believed that a robots behavior has a direct effect on the engagement of a user with the robot, the task at hand and also their partner in case of a collaborative activity. Increasing this engagement is then held respons ...

2021

Thought consciousness and source monitoring depend on robotically-controlled sensorimotor conflicts and illusory states

Olaf Blanke, Hannes Bleuler, Fosco Bernasconi, Herberto Dhanis Pedro De Barros Camacho, Andrea Serino, Roy Salomon, Giulio Rognini, Masayuki Hara, Marco Solcà, Giedre Stripeikyte, Polona Pozeg, Pierre Progin

Thought insertion (TI) is characterized by the experience that certain thoughts, occurring in one’s mind, are not one’s own, but the thoughts of somebody else and suggestive of a psychotic disorder. We report a robotics-based method able to investigate the ...

2020

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

SAGE PUBLICATIONS LTD2020

Analysis and Remediation of Handwriting difficulties

Thibault Lucien Christian Asselborn

Even with correct training, up to 25% of children never master handwriting like their peers. While research shows a correlation between handwriting difficulties and school failure, these difficulties can also impact children in their self esteem and behavi ...

EPFL2020

Trajectory Data Analysis on the Spatial and Temporal Influence of Pedestrian Flow on Path Planning Decision

Michel Bierlaire, Jeongyun Kim

The modeling of walking behavior and design of walk-friendly urban pathways have been of interest to many researchers over the past decades. One of the major issues in pedestrian modeling is path planning decision-making in a dynamic walking environment wi ...

2020

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction

Aude Billard, Mahdi Khoramshahi

A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human in ...

SPRINGER2020

Design Methodology for Constructing Multimaterial Origami Robots and Machines

Jamie Paik, Zhenishbek Zhakypov

Robotic origami allows rapid prototyping of intelligent robots and machines constructed from thin sheets of functional materials. Multimaterial-based design freedom of origami robots creates functional versatility; however, the design parameters pose chall ...

2018

On the mechanical, cognitive and sociable facets of human compliance and their robotic counterparts

Aude Billard

Compliance has become a key requirement for robots meant to interact with humans. It is viewed as a necessary property to increase safety and efficiency in human-robot cooperative actions. In humans, compliance takes three dimensions: mechanical, cognitive ...

Elsevier2017

Which Robot Behavior Can Motivate Children to Tidy up Their Toys? Design and Evaluation of "Ranger"

Pierre Dillenbourg, Francesco Mondada, Philippe Rétornaz, Séverin Lemaignan, Julia Fink, Florian Christopher Vaussard, Alain Berthoud

We present the design approach and evaluation of our proto- type called “Ranger”. Ranger is a robotic toy box that aims to motivate young children to tidy up their room. We evalu- ated Ranger in 14 families with 31 children (2-10 years) using the Wizard-of ...

2014

Imitation Learning of Motion Coordination in Robots : a Dynamical System Approach

Elena Gribovskaya

The ease with which humans coordinate all their limbs is fascinating. Such a simplicity is the result of a complex process of motor coordination, i.e. the ability to resolve the biomechanical redundancy in an efficient and repeatable manner. Coordination e ...

EPFL2012

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...

2011

Tactile Guidance for Policy Refinement and Reuse

Aude Billard, Eric Sauser, Brenna Dee Argall

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement a ...

2010

Policy Adaptation through Tactile Correction

Aude Billard, Eric Sauser, Brenna Dee Argall

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations, for example correspondence issues between the robot and demonstrator, can degrade poli ...

2010