Robots

marxbot - 2007–present

The marxbot is a modular all-terrain research robot.

I have developed the aseba low level control architecture that powers the marxbot and I am running experiments using it.

handbot - 2008–present

The handbot is an experimental robot capable of simultaneous climbing and manipulation.

I have developed the aseba low level control architecture that powers the handbot.

S-bot and Swarmbot - 2003–2004

The S-bot is a highly integrated autonomous mobile robot creating by the Swarmbot European project . It has about 50 integrated sensors, 9 degrees of freedom, video and sound subsystems, 12 PICs microcontrollers, an 400 Mhz XScale processor with Linux and Wifi. The S-bot can connect to other S-bots thus creating a higher level structure called Swarmbot.

I worked 6 mounth on the S-bot, mainly porting Linux from Armonie, creating the system API and writing test programs.

Hovercraft robot - 2000

This is a hovercraft robot I made with Cécile Grivaz for the 2000 EPFL firefighter robot contest. A central fan lifts the robot while two side fans provide thrust for counter-rotation and displacement. The control system is a 68HC12 microcontroller connected to a linear camera and a gyroscope.

The firefighter strategy involves going straight to a candle, then turning and using the blast of the side fans to blow out the candle. However, the yield was not high enough for the robot to lift up.

Simple wheeled robot - 1999

This is a simple differential wheeled robot I made with Cécile Grivaz for the 1999 EPFL firefighter robot contest. It has one linear camera, two motors, and a fan to blow out the candles. A 68HC12 microcontroller programmed in CALM assembler controls the behaviour of the robot.