Sarah Dégallier

Research Assistant, Biologically Inspired Robotics Group, EPFL

Short bio:

Sarah Degallier has a BSc/MSc in Mathematics from the Ecole Polytechnique fédérale de Lausanne (2005). She has previously worked on hyperbolic geometry and mathematical physics. She joined the Biologically Inspired Robotics Group in April 2006 where she is pursuing a PhD.

She is involved in the RobotCub project, a European project building an open source humanoid robot as a platform to study cognition and emergent behavior. More precisely, her research topic is the superimposition and the switch between discrete and rhythmic movements.

Publications

• S. Degallier, L. Righetti, L. Natale, F. Nori, G. Metta and A. Ijspeert, A modular bio-inspired architecture for movement generation for the infant-like robot iCub , in Proceedings of the second IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2008.[PDF][BibTex]
• P.A. Mudry, S. Degallier and A. Billard, On the influence of symbols and myths in the responsibility ascription problem in roboethics - A roboticist's perspective, in Proceedings of the IEEE International Symposium on Robot and Human Interactive Communciation (RO-MAN2008), 2008.[PDF][BibTex]
• S. Degallier, L. Righetti and A. Ijspeert, Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach , in Proceedings of the IEEE-RAS International Conference on Intelligent Robots and Systems (IROS07), 2007. [PDF] [BibTex].
• S. Degallier, C. P. Santos, L. Righetti and A. Ijspeert, Movement generation using dynamical systems: a humanoid robot performing a drumming task , in Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06), 2006. [PDF] [BibTex][Video]

Conference Abstract

• S.Degallier and A. Ijspeert, A bio-inspired architecture for movement generation based on discrete and rhythmic movement primitives modeled by dynamical systems, accepted for the 4th Symposium of Adaptive Motion of Animals and Machines (AMAM), 2008. [PDF][BibTex]
• A. Gams, S. Degallier, A.J. Ijspeert and J. Lenarčič, Dynamical system for learning the waveform and frequency of periodic signals - application to drumming, accepted for the 15th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), 2008. [PDF][BibTex]

Projects

• S. Degallier et P.-A. Mudry,  Éthique robotique : entre mythes et réalité [PDF]

Demonstrations

• iCub drumming at AUTOMATICA 2008 in Munich [Movie]
• iCub drumming at the International Conference on Cognitive Systems (CogSys2008) in Karlsruhe [Movie]

Contact:

Sarah Degallier
Biologically Inspired Robotics Group
School of Computer and Communication Sciences
EPFL-IC-ISIM-GRIJ
INN 235, Station 14
EPFL, Swiss Federal Institute of Technology, Lausanne
CH 1015 Lausanne, Switzerland


http://birg.epfl.ch/
++41 21 693 66 20