Publications by Gilles Caprari

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This paper describes the hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedic ...

This paper describes the hardware and behavior implementation of a miniature robot, in size of a match box, that is able to interact with cockroaches. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. ...

We report the faithful reproduction of the self-organized aggregation behavior of the German cockroach Blattella germanica with a group of robots. We describe the implementation of the biological model provided by Jeanson et al. in Alice robots, and we com ...

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

This paper describes the design methodology to build an autonomous mobile robot of just few cubic centimeters (2 x 2 x 2 cm). Starting from the expected features, the design path will be shown, going through solution proposition, component search, subsystems interconnections, several versions and ending to the final product. The second part of the paper will be dedicated to the control of such a robot which has implications in the control and software architecture. The overall design cycle results in the la

We describe a model and implementation of evolutionary spiking neurons for embedded microcontrollers with few bytes of memory and very low power consumption. The approach is tested with an autonomous microrobot of less than 1 in^3 that evolves the ability to move in a small maze without human intervention and external computers. Considering the very large diffusion, small size, and low cost of embedded microcontrollers, the approach described here could find its way in several intelligent devices with senso

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

In group-living animals, aggregation favours interactions as well as information exchanges between individuals, and allows thus the emergence of complex collective behaviors. In previous works, a model of a self-enhanced aggregation was deduced from experi ...

Climbing is a challenging task for autonomous mobile robots primarily due to requirements for agile locomotion, and high maneuverability as well as robust and efficient attachment and detachment. A novel miniature wall-climbing robot is proposed. The robot ...

This paper presents general ideas on design and implementation of robots to be used together with groups of animals. This work is part of the European project LEURRE aiming to study, model and control mixed societies of animals and robots. After a short presentation of the general project, the implications on the special requirements will be discussed. The design process of the robot will be described leading to the implementation of the autonomous mini robot called InsBot. This is very compact (19x30x41 mm

This paper presents the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

Gilles Caprari

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Robot-animal interaction: Perception and behavior of insbot

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

The embodiment of cockroach aggregation behavior in a group of micro-robots

LameAlice, a Nanorover for Planetary Exploration

Design and Control of the Mobile Micro Robot Alice

Evolutionary Bits'n'Spikes

Robot-Animal Interaction: Perception and Behavior of Insbot

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Collective Decision-Making by a Group of Cockroach-Like Robots

Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives

InsBot: Design of an Autonomous Mini Mobile Robot Able to Interact with Cockroaches

Design and Control of an Indoor Coaxial Helicopter

Autonomous micro-robots : applications and limitations

Animal and Robot Mixed Societies - Building Cooperation Between Microrobots and Cockroaches

Mobile Micro-Robots Ready to Use: Alice

LAMAlice : A Mini Mobile Robot for Planetary Exploration

A Remote Controlled Mobile Mini Robot

Robot Navigation in Centimeter Range Labyrinths

The Autonomous Miniature Robot Alice: From Prototypes to Applications

The Autonomous Micro Robot ALICE: A platform for Scientific and Commercial Applications