Publications by Michel Lauria | EPFL Graph Search

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Robotic ground vehicles are mechanisms that use gravity and contact forces with the ground to perform motion. They can either be wheeled, tracked or legged. In this thesis we will focus on n-wheeled vehicles able to perform ground following motion with all the wheels maintaining contact at the same time. The main goal of this work is to establish the implication of the topological architecture of the vehicle mechanism on criteria such as climbing skills, robustness, ground clearance, weight, power consumpti

During recent years the European Space Agency (ESA) has started to develop concepts for micro-rovers for planetary missions. An ESA Technology Research Program (TRP) activity "Micro-Robots for Scientific Applications" has been dedicated to this subject. Within an interdisciplinary group of space companies and research labs new designs of micro-rovers have been investigated. Two concepts, a simple and robust one and an innovative one, have been selected and functional breadboard models of them are currently

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques consi

The invention concerns a vehicle whereof the rigid body (1, 2, 4) comprises the front element (20) forming the rear element of a deformable articulated quadrilateral (17, 18, 19, 20). The element (17) is mounted in the extension of the arm (15) linked to the wheel of the front axle (7). The undercarriage comprises on the right two tandem wheels (9 and 10) whereof the arms are articulated on the system (24, 26) pivoting on the pivots (27) relative to the pillar (28) integral with the body. On the left the un

The recent advances in micro-technology made it possible to realize very small autonomous robots. Such mobile micro-robots have many potential applications. Especially in space exploration, where weight and size is a very dominant issue, mobile micro-robots enable new mission concepts with multiple robots working in parallel. This makes the mission highly redundant and allows for simultaneous measurements at various places. These ideas motivated us to design and realize the mobile micro-robot LameAlice that

Mobile robots are of high interest for unmaned planetary exploration. The very successful Pathfinder mission to Mars has impressively demonstrated the potential of mobile platforms for planetary exploration [1]. The European Space Agency (ESA) also started to develop concepts for micro-rovers for Mars missions. Within an interdisciplinary group of companies specialized in space applications and research labs new designs of micro-rovers have been investigated. Two concepts, a simple and robust one and an inn

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with gro

Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of this work is to establish the implication of the topological architecture of the vehicle mechanism on criteria such as climbing skills, robustness, weight, power consumption, and price. Tools will be provided to help the robot designer to understand the imp

This paper presents a new robotic concept, called SWARM-BOT, based on a swarm of autonomous mobile robots with self-assembling capabilities. SWARM-BOT takes advantage from collective and distributed approaches to ensure robustness to failures and to hard environment conditions in tasks such as navigation, search and transportation in rough terrain. One SWARM-BOT is composed of a number of simpler robots, called s-bots, physically interconnected. The SWARM-BOT is provided with self-assembling and self-reconf

Michel Lauria

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Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés

Design and Control of an Innovative Micro-Rover

Wheel torque control for a rough terrain rover

Vehicle for rugged terrain

LameAlice, a Nanorover for Planetary Exploration

Design and Implementation of an Innovative Micro-Rover

Octopus - An Autonomous Wheeled Climbing Robot

Topological Analysis of Robotic N-Wheeled Ground Vehicles

SWARM-BOT: From Concept to Implementation

Innovative Concept for Wheeled Locomotion in Rough Terrain

Demonstration of Micro-ROSA Micro-Rover Breadboard Models

SpaceCat, a Micro-Rover based on an Innovative Locomotion Concept

An Innovative Space Rover with Extended Climbing Abilities

Innovative Design for Wheeled Locomotion in Rough Terrain

Un robot mobile tout-terrain

An Innovative Space Rover with Extended Climbing Abilities