Florent Guenter

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We present a programming-by-demonstration 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 series of experiments, in which a human demonstrator teaches a humanoid robot simple manipulatory tasks. A(More)
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots such that it can be accomplished by anyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but not all the possibilities. The robot must then be able to reproduce the task even when(More)
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 environment. It combines a dynamical system control approach with tools of statistical learning theory and(More)
Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely “what to imitate” and “how to imitate”. This paper presents a method by which a robot extracts the goals of a demonstrated task and determines the imitation strategy that(More)
Abstract— 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 are extracted from several demonstrations. Those constraints take the form of desired velocity(More)
This paper presents an architecture for solving generically the problem of extracting the constraints of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate the architecture in a series of experiments, where a human demonstrator teaches a humanoid robot simple(More)
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(More)
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but not all the possibilities. The robot must then be able to reproduce the task even when unexpected(More)
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(More)