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检索条件"机构=Learning Algorithms and Systems Laboratory-LASA"

共 35 条记录，以下是21-30 订阅

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Policy adaptation with tactile feedback

Policy adaptation with tactile feedback

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Brenna D. Argall Eric L. Sauser Aude G. Billard Learning Algorithms and Systems Laboratory (LASA) Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

Behavior adaptation with execution experience is a practical feature for any policy learning system. Our work provides performance feedback to a robot learner in the form of tactile corrections from a human teacher, for the purpose of policy refinement as well as policy reuse. Multiple variants of our general approach have been validated on the iCub robot, as building blocks towards a high-DoF humanoid system that integrates tactile sensing on the hands and arms into complex behaviors and sophisticated learning routines.

关键词： Humans Adaptation models Tactile sensors Laboratories

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Design of a Biomimetic Spine for the Humanoid Robot Robota

Design of a Biomimetic Spine for the Humanoid Robot Robota

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： L. Roos F. Guenter A. Guignard A.G. Billard Learning Algorithms and Systems Laboratory-LASA School of Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

This paper presents a prototype of 3 degrees-of-freedom articulated spine for the doll-shaped humanoid robot Robota. This work follows an approach that emphasizes the need for a high human-likeliness in both the external features of the robot and in the kinematics of its motions to enhance human-robot interactions. The design of a spinal cord for our humanoid robot satisfies both criteria in providing offering a smooth human-like parallel means of bending forward and sideways

关键词： Humanoid robots Biomimetics Prototypes Educational robots Torso Education Laboratories Human robot interaction Autism Service robots

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Probabilistic depth image registration incorporating nonvisual information

Probabilistic depth image registration incorporating nonvisu...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Manuel Wüthrich Peter Pastor Ludovic Righetti Aude Billard Stefan Schaal Faculty of Micro Engineering EPF Lausanne Switzerland Computational Learning and Motor Control Laboratory (CLMC) USC USA Learning Algorithms and Systems Laboratory (LASA) EPF Lausanne Switzerland

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the visual information. Furthermore we do not only consider observations of the object, but we also take space into account which has been observed to not be part of the object. Furthermore we are computing a posterior distribution over the relative alignment and not a point estimate as typically done in for example Iterative Closest Point (ICP). To our knowledge no existing algorithm meets these three conditions and we thus derive a novel registration algorithm in a Bayesian framework. Experimental results suggest that the proposed methods perform favorably in comparison to PCL [1] implementations of feature mapping and ICP, especially if nonvisual information is available.

关键词： Iterative closest point algorithm Cameras Robots Shape Covariance matrix Visualization Approximation algorithms

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WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children

WearCam: A head mounted wireless camera for monitoring gaze ...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Lorenzo Piccardi Basilio Noris Olivier Barbey Aude Billard Giuseppina Schiavone Flavio Keller Claes von Hofsten Learning Algorithms & Systems Laboratory LASA EPF Lausanne Lausanne Switzerland DNNP Laboratory Roma Italy Department of Psychology University of Uppsala Uppsala Sweden

Autism covers a large spectrum of disorders that affect the individual's way of interacting socially and is often revealed by the individual's lack of interest in gazing at human faces. Currently Autism is diagnosed in children no younger than 2 years old. This paper presents a new monitoring device, the WearCam, to help forming a diagnosis of this neurodevelopmental disorder at an earlier age than currently possible. The WearCam consists of a wireless camera located on the forefront of the child. The WearCam collects videos from the viewpoint of the child's head. Color detection, face detection and gaze detection are run on the data in order to locate the approximate gaze direction of the child and determine where her attention is drawn to (persons, objects, etc.). We report on early tests of the camera within normally developing children. Firstly the technical characteristics of the current prototype of the WearCam will be described. Afterwards the type of data collected with this device with young children will be shown.

关键词： Cameras Autism Face detection Prototypes Biomedical monitoring Batteries Humans Videos Object detection Charge-coupled image sensors

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Evaluating the ICRA 2008 HRI challenge

Evaluating the ICRA 2008 HRI challenge

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Astrid Weiss Thomas Scherndl Manfred Tscheligi Aude Billard ICT&S Center University of Salzburg Salzburg Austria Learning Algorithms and Systems Laboratory LASA School of Engineering Lausanne Switzerland

This paper reports on the evaluation of the ICRA 2008 Human-Robot Interaction (HRI) Challenge. Five research groups demonstrated state-of-the-art work on HRI with a special focus on social and learning abilities. The demonstrations were rated by expert evaluators, in charge of awarding the prize, and 269 participants, i.e. 20 percent of the conference attendees through a standardized questionnaire (semantic differential). The data was analyzed with respect to six independent variables: expert evaluators vs. attendees, nationality of participants, origin region of the demo, age, gender and knowledge level of the attendees. Conference attendees tended to give higher scores for Social Skills, General Impression, and Overall Score than the expert evaluators. Irrespectively of the level of knowledge, age, and gender, conference attendees rated all demos relatively homogeneously. However, a comparative analysis of the conference attendees's ratings nationality-wise showed that demonstrations were rated differently depending on the region of origin. Conference attendees for the USA and Asian countries tended to rate demos from the same country of origin more frequently and more positively.

关键词： Robots Europe Educational institutions Conferences Automation Humans Asia

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Rewards-Driven Control of Robot Arm by Decoding EEG Signals

Rewards-Driven Control of Robot Arm by Decoding EEG Signals

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Ajay Kumar Tanwani Jose del. R. Millan Aude Billard Learning Algorithms and Systems Laboratory (LASA) Ecole Polytechnique Federale de Lausanne (EPFL) Defitech Chair on Non-Invasive Brain-Machine Interface (CNBI) Center for Neuropros-thetics in EPFL

ISBN: (纸本)9781424479276

Decoding the user intention from non-invasive EEG signals is a challenging problem. In this paper, we study the feasibility of predicting the goal for controlling the robot arm in self-paced reaching movements, i.e., spontaneous movements that do not require an external cue. Our proposed system continuously estimates the goal throughout a trial starting before the movement onset by online classification and generates optimal trajectories for driving the robot arm to the estimated goal. Experiments using EEG signals of one healthy subject (right arm) yield smooth reaching movements of the simulated 7 degrees of freedom KUKA robot arm in planar center-out reaching task with approximately 80% accuracy of reaching the actual goal.

关键词： Electroencephalography Robots Decoding Trajectory Accuracy Correlation Training

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On the Evolution of Fingertip Grasping Manifolds

On the Evolution of Fingertip Grasping Manifolds

引用

IEEE International Conference on Robotics and Automation

作者： K. Hang J. A. Haustein M. Li A. Billard C. Smith D. Kragic the Computer Vision and Active Perception Lab CAS CSC at KTH Royal Institute of Technology Stockholm Sweden the Learning Algorithms and Systems Laboratory (LASA) at école Polytechnique Fédérale de Lausanne (EPFL) Switzerland

ISBN: (纸本)9781467380270

Efficient and accurate planning of fingertip grasps is essential for dexterous in-hand manipulation. In this work, we present a system for fingertip grasp planning that incrementally learns a heuristic for hand reachability and multi-fingered inverse kinematics. The system consists of an online execution module and an offline optimization module. During execution the system plans and executes fingertip grasps using Canny's grasp quality metric and a learned random forest based hand reachability heuristic. In the offline module, this heuristic is improved based on a grasping manifold that is incrementally learned from the experiences collected during execution. The system is evaluated both in simulation and on a Schunk-SDH dexterous hand mounted on a KUKA-KR5 arm. We show that, as the grasping manifold is adapted to the system's experiences, the heuristic becomes more accurate, which results in an improved performance of the execution module. The improvement is not only observed for experienced objects, but also for previously unknown objects of similar sizes.

关键词： Evolution Fingertip Grasping

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Evaluation of an Industrial Robotic Assistant in an Ecological Environment

Evaluation of an Industrial Robotic Assistant in an Ecologic...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Baptiste Busch Giuseppe Cotugno Mahdi Khoramshahi Grigorios Skaltsas Dario Turchi Leonardo Urbano Mirko Wächter You Zhou Tamim Asfour Graham Deacon Duncan Russell Aude Billard EPFL Learning Algorithms and Systems Laboratory (LASA) Lausanne Switzerland Robotics Research Group of Ocado Technology Hatfield UK University of Hertfordshire Hatfield UK KIT High Performance Humanoid Technologies Lab (H2T) Karlsruhe Germany

Social robotic assistants have been widely studied and deployed as telepresence tools or caregivers. Evaluating their design and impact on the people interacting with them is of prime importance. In this research, we evaluate the usability and impact of ARMAR-6, an industrial robotic assistant for maintenance tasks. For this evaluation, we have used a modified System Usability Scale (SUS) to assess the general usability of the robotic system and the Godspeed questionnaire series for the subjective perception of the coworker. We have also recorded the subjects' gaze fixation patterns and analyzed how they differ when working with the robot compared to a human partner.

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The DoF-Box Project: An Educational Kit for Configurable Robots

The DoF-Box Project: An Educational Kit for Configurable Rob...

引用

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： D. Daidie O. Barbey A. Guignard D. Roussy F. Guenter A. Ijspeert A. Billard Learning Algorithms and Systems Laboratory (LASA) School of engineering Ecole Polytechnique Federale de Lausanne (EPFL) 1015 Lausanne Switzerland

ISBN: (纸本)9781424412631;1424412633

This paper describes the DoF-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to microengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practicals. This approach encourages the creativity and imagination of the students, while ensuring that the students put in practice fundamental laws of control they are taught in class. Some of the results, including particular design of robots, obtained by the students are also shown.

关键词： Robot Students Imagination configurability robotics Computer hardware Reconfigurable robot Hand computer software

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Reaching and grasping kitchenware objects

Reaching and grasping kitchenware objects

引用

IEEE/SICE International Symposium on System Integration

作者： Rui Figueiredo Ashwini Shukla Duarte Aragão Plinio Moreno Alexandre Bernardino José Santos-Victor Aude Billard Faculty of Electrical and Computer Engineering Institute de Sistemas e Robótica Instituto Superior Técnico Lisbon Portugal Learning Algorithms and Systems Laboratory STI-I2S-LASA École Polytechnique Fédérale de Lausanne Lausanne Switzerland

We integrate software components that allow efficient 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 of Drost et. al. [10] is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems: The approach direction system and its tangent space [21]. The coupling provides a robust reaching component that copes with several gripper configurations. The grasp hypothesis selection filters the object poses by considering the table orientation.

关键词： Grasping Computational modeling Grippers Detectors Couplings Trajectory Heuristic algorithms

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