Soraya Arias

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— In this paper we address the problem of audiovisual speaker detection. We introduce an online system working on the humanoid robot NAO. The scene is perceived with two cameras and two microphones. A multimodal Gaussian mixture model (mGMM) fuses the information extracted from the auditory and visual sensors and detects the most probable audiovisual(More)
Robotic systems are typical examples of hybrid systems where continuous time aspects, related to control laws, must be carefully merged with discrete-time aspects related to control switches and exception handling. These two aspects interact in real-time to ensure an efficient nominal behaviour of the system together with safe and graceful degradation(More)
This paper presents an experimental approach to the problem of designing and executing walking gaits on a dedicated 2-legged machine. We have oriented all our approach towards the experimental analysis of large pattern of walking gaits. This work has lead to the first experimental results obtained on the Bip anthropomorphic robot. The desired movements are(More)
Orccad model has been designed to structure robot architecture according to two aspects : continuous time aspects, related to control laws, carefully merged with discrete-time aspects related to control switches and exception handling. CAD tools have been provided to help the users along the steps of the design, verification, implementation and exploitation(More)
One of the main applications of the humanoid robot NAO - a small robot companion - is human-robot interaction (HRI). NAO is particularly well suited for HRI applications because of its design, hardware specifications, programming capabilities, and affordable cost. Indeed, NAO can stand up, walk, wander, dance, play soccer, sit down, recognize and grasp(More)
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