Publications de Gilles Caprari

Highly Compact Robots for Inspection of Power Plants

Francesco Mondada, Roland Siegwart, Roland Moser, Fabien Tâche, Patrick Schoeneich, Gilles Caprari, Olivier Truong-Dat Nguyen, Andreas Breitenmoser

John Wiley & Sons2012

Highly Compact Robots for Inspection of Power Plants

Francesco Mondada, Roland Siegwart, Roland Moser, Fabien Tâche, Frédéric Rochat, Gilles Caprari, 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, Roland Moser, Gilles Caprari, 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: Compact magnetic wheeled robot for power plant inspection

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

IEEE Press2010

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

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

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

Masoud Asadpour, Gilles Caprari, Simon Garnier

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

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

Alcherio Martinoli, Roland Siegwart, Francesco Mondada, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Nicolaus Correll, Jean-Louis Deneubourg

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 ...

American Association for the Advancement of Science2007

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

Design and Control of an Indoor Coaxial Helicopter

Roland Siegwart, Gilles Caprari, Samir Bouabdallah

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

Mobile Micro-Robots Ready to Use: Alice

Roland Siegwart, Gilles Caprari

2005