Publications de Sarah Dégallier Rochat

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat, Sébastien Gay

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Springer Verlag2011

Discrete and Rhythmic Motor Primitives for the Control of Humanoid Robots

Sarah Dégallier Rochat

Controlling robots with multiple degrees of freedom (DOFs) is still an open and challenging issue, notably because planning complex, multidimensional trajectories in time-varying environments is a laborious and costly process. In this dissertation, we prop ...

EPFL2010

Modeling Discrete and Rhythmic Movements through Motor Primitives: A Review

Auke Ijspeert, Sarah Dégallier Rochat

Rhythmic and discrete movements are frequently considered separately in motor control, probably because different techniques are commonly used to study and model them. Yet, an increasing interest for a comprehensive model for movement generation requires t ...

Springer Verlag2010

Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Auke Ijspeert, Sarah Dégallier Rochat, Sébastien Gay, José Santos-Victor

In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a ...

2010

On the influence of symbols and myths in the responsibility ascription problem in roboethics - A roboticist’s perspective

Aude Billard, Pierre-André Mudry, Sarah Dégallier Rochat

Because of the increasing developments of humanoid robots, humans and robots are going to interact more and more often in the near future. Thus, the need for a well-defined ethical framework in which these interactions will take place is very acute. In thi ...

2008

Dynamical system for learning the waveform and frequency of periodic signals - application to drumming

Auke Ijspeert, Sarah Dégallier Rochat

The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...

2008

A modular bio-inspired architecture for movement generation for the infant-like robot iCub

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting ...

2008

A bio-inspired architechture for movement generation based on discrete and rythmic movement primitives modeled by dynamical systems

Auke Ijspeert, Sarah Dégallier Rochat

2008

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Movement generation using dynamical systems: a humanoid robot performing a drumming task

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical sy ...

2006