HIGY , Bertrand

In this thesis, I investigate spoken command recognition technology for robotics. While high robustness is expected, the distant and noisy conditions in which the system has to operate make the task very challenging. Unlike commercial systems which all rely on a "wake-up" word to initiate the interaction, the pipeline proposed here directly...

In this paper we tackle the problem of object recognition using haptic feedback from a robot holding and manipulating different objects. One of the main challenges in this setting is to understand the role of different sensory modalities (namely proprioception, object weight from F/T sensors and touch) and how to combine them to correctly...