Sébastien Gay

Research Assistant, Biorobotics Laboratory, EPFL

Short bio

Sébastien GaySébastien Gay graduated in 2007 as computer science engineer at the National Institute of applied Sciences (INSA) in Lyon (France).

He received a MSc with honours in Artificial Intelligence from the University Claude Bernard in Lyon in 2007.

He joined the Biorobotics Laboratory (formerly BIRG) for the first time in 2007 to carry out his master project about reconfiguration of modular robots.

He started his PhD in april 2009, hosted by both the Biorobotics Laboratory at EPFL in Lausanne and the VisLab at the IST in Lisbon.

He was integrated in the RobotCub project, a European attempt build an infant like humanoid robot to study cognition and it’s development in children, which ended in January 2010.

He is now attached to the Amarsi project about designing adaptive locomotion modules to develop rich motor skills in compliant legged robots.

His main research interests are the coordination of vision and locomotion for legged robots, stabilization of compliant legged robots using vision, locomotion on rough terrain, machine learning and dynamical systems.

Publications

Journal papers

 

Sarah Dégallier Rochat, Ludovic Righetti, Sébastien Gay and Auke Ijspeert. Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives, Autonomous Robots, 2011.

Qingqiong Deng, Xiaopeng Zhang, Sebastien Gay and Xiangdong Lei, Continuous LOD Model of Coniferous Foliage, The International Journal of Virtual Reality, 2007, 6(4) :77-84

Detailed record

 

Conference papers

 

Sébastien Gay, Jesse van den Kieboom, José Santos-Victor and Auke Ijspeert, Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow, Accepted for IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013, Atlanta, USA, October 15-17 2013

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Sébastien Gay, José Santos-Victor and Auke Ijspeert, Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators, Accepted for IEEE International Conference on Intelligent Robots and Systems(IROS), 2013, Tokyo, Japan, November 3-7 2013

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Mostafa Ajallooeian, Sébastien Gay, Alexandre Tuleu, Alexander Sproewitz and Auke Ijspeert, Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain, Accepted for IEEE International Conference on Intelligent Robots and Systems(IROS), 2013, Tokyo, Japan, November 3-7 2012 

Detailed record – Full Text

 

Sébastien Gay, Auke Ijspeert and José Santos-Victor. Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators. IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA, May 14-18, 2012.

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Sébastien Gay, Auke Ijspeert and José Santos-Victor, Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems, International Symposium on Adaptive Motion of Animals and Machines, 2011

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Sébastien Gay, Sarah Dégallier Rochat, Auke Ijspeert and José Santos-VictorIntegration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robotProceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18-22 Oct. 2010 .

Posters

 

Mostafa Ajallooeian, Soha Pouya, Sébastien Gay, Alexandre Tuleu, Alexander Sprowitz and Auke Ijspeert Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain. Dynamic Walking 2013, Carnegie Mellon University, Pittsburgh, USA, JUNE 10-13, 2013.

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