Publications

Building guide for an educational LEGO mock-up WDPR

CAD model, click to get the building guide.

For educational purposes, a LEGO mock-up has been designed and built in the COPRIN team. I created a building guide in the hopes it brings this mock-up WDPR in everybody's reach, specially young children as it's more or less the indented audience.

This work is licensed under a CC Attribution-Non-Commercial-ShareAlike 3.0 France License.

Past projects' theses

Robotics

• 01-2012 [EN] Design of a test-bed for a robotic satellite
• 08-2011 [EN] Orbital Debris Remediation: An approach using a 7-DoF robotic arm in space

Design

• 08-2009 [FR] Pre-design study of an haptic suit for HRP4
• 08-2009 [FR] Design of a compliant sole for HRP2

Process mechanics

• 01-2009 [FR] Study of the usefulness of a high-speed camera or infra-red camera to characterize a composite material.

Code (snippets or full algorithms), CAD files

/!\ Not yet available /!\

This code may have errors. Don't use for critical systems.

All of this content is .

Design of a test-bed for a robotic satellite

• Maple worksheets for dynamical stability
• CAD files of the circular rails reaction-free deck
• CAD file of the spherical reaction-free deck

Orbital Debris Remediation: An approach using a 7-DoF robotic arm in space

• Code for the Resolved Acceleration Control (including Yoshida's generalized matrices) implementation and the trajectory generator
• Warning: even if the algorithm has been designed to be independent, it only has been used with RobotToolKit made and distributed under GNU GPLv2 licence by Eric Sauser.

Pre-design study of an haptic suit for HRP4

• CAD files of the haptic suit for a robot arm