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Sébastien Gay

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Related publications (8)

Please note that this is not a complete list of this person’s publications. It includes only semantically relevant works. For a full list, please refer to Infoscience.

Visual Control of Legged Robots for Locomotion in Complex Environments using Central Pattern Generators

EPFL2014

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Auke Ijspeert, Sébastien Gay, José Santos-Victor

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

2013

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu, Sébastien Gay

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correc ...

2013