View all publications

Journal articles

Learning dynamical systems with bifurcations

F. Khadivar; I. Lauzana; A. Billard 

Robotics and Autonomous Systems. 2021-02-01. Vol. 136, p. 103700. DOI : 10.1016/j.robot.2020.103700.

On the Safety of Mobile Robots Serving in Public Spaces: Identifying gaps in EN ISO 13482:2014 and calling for a new standard

P. Salvini; D. F. Paez Granados; A. Billard 

ACM Transactions on Human-Robot Interaction (THRI). 2020-11-29. 

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

M. Khoramshahi; A. Billard 

Autonomous Robots. 2020-07-26. DOI : 10.1007/s10514-020-09934-9.

Intent Prediction Based on Biomechanical Coordination of EMG and Vision-Filtered Gaze for End-Point Control of an Arm Prosthesis

N. E. Krausz; D. Lammote; I. Batzianoulis; L. Hargrove; S. Micera et al. 

IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2020-05-06. Vol. 28, num. 6, p. 1471 – 1480. DOI : 10.1109/TNSRE.2020.2992885.

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

K. Chatzilygeroudis; B. Fichera; I. Lauzana; F. Bu; K. Yao et al. 

IEEE Robotics and Automation Letters. 2020-02-10. DOI : 10.1109/LRA.2020.2972837.

A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

B. Barra; M. Badi; M. G. Perich; S. Conti; S. S. M. Salehian et al. 

Journal Of Neural Engineering. 2020-02-01. Vol. 17, num. 1, p. 016004. DOI : 10.1088/1741-2552/ab4c77.

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

K. Yao; A. Billard 

Biological Cybernetics. 2020-02-01. Vol. 114, num. 1, p. 63-82. DOI : 10.1007/s00422-019-00814-9.

Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling

R. Sanchez-Matilla; K. Chatzilygeroudis; A. Modas; N. R. Ferreira Duarte; A. Xompero et al. 

IEEE Robotics and Automation Letters. 2020-01-24. Vol. [Early Access]. DOI : 10.1109/LRA.2020.2969200.

Shared human–robot proportional control of a dexterous myoelectric prosthesis

K. Z. Zhuang; N. Sommer; V. Mendez; S. Aryan; E. Formento et al. 

Nature Machine Intelligence. 2019-09-11. Vol. 1, num. 9, p. 400-411. DOI : 10.1038/s42256-019-0093-5.

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

L. Huber; A. Billard; J-J. Slotine 

IEEE Robotics and Automation Letters (RA-L). 2019-07-17. DOI : 10.1109/LRA.2019.2893676.

View more

Conference papers

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

N. B. Figueroa Fernandez; S. Faraji; M. Koptev; A. Billard 

2020-06-01. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May – 31 August 2020.

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

M. Khoramshahi; K. G. Henriks; A. C. Naef; S. S. Mirrazavi Salehian; J. Kim et al. 

2020-05-31. International Conference on Robotics and Automation, Paris, France, May 31-June 4, 2020.

Force Adaptation in Contact Tasks with Dynamical Systems

W. Amanhoud; M. Khoramshahi; M. Bonnesoeur; A. Billard 

2020. ICRA, Virtual Conference, May 31 – August 31 2020. DOI : 10.1109/ICRA40945.2020.9197509.

On Force Synergies in Human Grasping Behavior

J. Starke; K. Chatzilygeroudis; A. Billard; T. Asfour 

2019-10-15. IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 15-17, 2019. p. 72-78.

Four-Arm Manipulation via Feet Interfaces

J. Hernandez Sanchez; W. Amanhoud; A. B. Haget; H. Bleuler; A. Billard et al. 

2019-09-11. Fall Symposium Series of the Association for Advancement of Artificial Intelligence, Arlington, Virginia, USA, November 7-9, 2019. p. AI-HRI/2019/12.

View more


Unscrewing Experiment Dataset

K. Yao 


Spring Assembly Experiment Dataset

K. Yao 


View more


Recent Advances in Robot Learning from Demonstration

H. Ravichandar; A. Polydoros; S. Chernova; A. Billard 

Annual Review of Control, Robotics, and Autonomous Systems. 2020. Vol. 3, num. 1, p. 297-330. DOI : 10.1146/annurev-control-100819-063206.

Apraxia: a review

B. Petreska; M. Adriani; O. Blanke; A. G. Billard 

Progress in brain research. 2007. Vol. 164, p. 61-83. DOI : 10.1016/S0079-6123(07)64004-7.

View more