Sarah Degallier Rochat

Bern University of Applied Sciences | BFH · Department of Engineering and Information Technology

The current market requires automated production systems to be reprogrammed by the shop floor workers to meet dynamic production needs. This requires new interfaces allowing the workers to acquire the needed skills for efficient and safe programming. In this article, an intuitive interface is introduced to foster both upskilling and empowerment thr...

Muscle synergies are thought to be the building blocks used by the central nervous system to control the underdetermined problem of muscles activation. Decoding these synergies from EEG could provide useful tools for BCI-controlled orthotic devices. In this paper, we assess the possibility of decoding muscle synergies from EEG slow cortical potenti...

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 vision tracker and an inverse kinematics solver to perform reaching tasks. We study the influe...

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 vision tracker and an inverse kinematics solver to perform reaching tasks. We study the influe...

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 propose a control architecture where the planning consists in defining the key characteristics of...