Publications de Gilles Caprari

Highly Compact Robots for Inspection of Power Plants

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

John Wiley & Sons2012

Highly Compact Robots for Inspection of Power Plants

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

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

IEEE Press2010

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

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

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

Gilles Caprari, Masoud Asadpour, 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

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

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

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

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

Roland Siegwart, Gilles Caprari, Fabien Tâche, Masoud Asadpour

2005

Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like Robots

Gilles Caprari, Masoud Asadpour, Simon Garnier

Springer-Verlag2005

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

Gilles Caprari, Masoud Asadpour, Simon Garnier

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

Robot-animal interaction: Perception and behavior of insbot

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

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

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

Roland Siegwart, Gilles Caprari

2005

Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives

Roland Siegwart, Gilles Caprari, Fabien Tâche

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 ...

2005

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

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

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

Autonomous micro-robots : applications and limitations

Gilles Caprari

EPFL2003