Publications de Sébastien Gay

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

EPFL2014

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

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

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

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

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Sébastien Gay, Jesse van den Kieboom, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators

Auke Ijspeert, Sébastien Gay

In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. ...

Ieee2012

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

Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

Auke Ijspeert, Sébastien Gay, José Santos-Victor

We present a gaze stabilization system using only visual information as feedback for a self tuning dynamical system. We describe how the dynamical system tunes its internal parameters to those of the optical ﬂow information to generate compensatory command ...

2011

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