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Gilles Caprari

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Publications associées (15)

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Highly Compact Robots for Inspection of Power Plants

Roland Siegwart, Francesco Mondada, Fabien Tâche, Gilles Caprari, Roland Moser, Frédéric Rochat, Patrick Schoeneich, Andreas Breitenmoser

This paper reports on a 3 years applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and 3 main achievements. The project is a common effort between industry and university, including ALS ...

IEEE Press2010

Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes

Francesco Mondada, Hannes Bleuler, Gilles Caprari, Roland Moser, Frédéric Rochat, Patrick Schoeneich, Olivier Truong-Dat Nguyen

A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It ...

IEEE Press2010

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

Roland Siegwart, Francesco Mondada, Fabien Tâche, Gilles Caprari, Roland Moser

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 ...

2009

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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 ...

2008

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Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organi ...

2007

Robot-Animal Interaction: Perception and Behavior of Insbot

Roland Siegwart, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Walter Karlen

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 ...

2006

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 ...

2006

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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 ...

2005

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

Roland Siegwart, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Walter Karlen

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. ...

2005

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

Masoud Asadpour, Gilles Caprari

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 ...

2005