Sarah Dégallier

Short bio

Sarah Degallier @ BIRGSarah 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 BioRob Lab in April 2006 where she obtained a PhD.

She has been 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 was the superimposition and the switch between discrete and rhythmic movements.


Journal Articles

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

S. Dégallier Rochat; L. Righetti; S. Gay; A. Ijspeert 

Autonomous Robots. 2011. Vol. 31, num. 2, p. 155-181. DOI : 10.1007/s10514-011-9235-2.

Modeling Discrete and Rhythmic Movements through Motor Primitives: A Review

S. Dégallier; A. Ijspeert 

Biological Cybernetics. 2010. Vol. 103, num. 4, p. 319-338. DOI : 10.1007/s00422-010-0403-9.

Conference Papers

Offline Decoding of Upper Limb Muscle Synergies from EEG Slow Cortical Potentials

N. Beuchat; R. Chavarriaga; S. Degallier; J. d. R. Millán 

2013. The 35th Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, July 3-7, 2013. p. 3594-3597. DOI : 10.1109/EMBC.2013.6610320.

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

S. Gay; S. Dégallier Rochat; A. Ijspeert; J. Santos-Victor 

2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18-22 Oct. 2010. p. 183-189. DOI : 10.1109/IROS.2010.5648788.

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

S. Degallier; A. J. Ijspeert 

2008.  p. 88-89.

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

A. Gams; S. Degallier; A. Ijspeert; J. Lenarcic 

2008. 15th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), 2008.

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

S. Degallier; L. Righetti; L. Natale; F. Nori; G. Metta et al. 

2008. 2nd IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, AZ, p. 795-800. DOI : 10.1109/BIOROB.2008.4762847.

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

P-A. Mudry; S. Degallier; A. Billard 

2008. RO-MAN, Münich, August 2008. p. 563–568. DOI : 10.1109/ROMAN.2008.460072.

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

S. Degallier; L. Righetti; A. Ijspeert 

2007. IEEE-RAS International Conference on Intelligent Robots and Systems (IROS07), San Diego, p. 2047-2052. DOI : 10.1109/IROS.2007.4399478.

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

S. Degallier; C. Santos; L. Righetti; A. Ijspeert 

2006. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06), Genova, December, 2006. p. 512-517. DOI : 10.1109/ICHR.2006.321321.


Discrete and Rhythmic Motor Primitives for the Control of Humanoid Robots

S. Dégallier Rochat / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2010.