Scolarship

I am a Postdoc at the joint lab between CNRS and Solvay called the Laboratory Of the Future. This Postdoc is conducted in collaboration with the Auctus team. The goal of this project is to introduce a robotic assistant inside a glovebox. To know more about this project you can go .

From 2019 to 2021 I worked on the Harry² project in the Auctus team. From 2015 to 2018 I did my PhD in medical Robotic under a Cifre contract between General Electric Healthcare and the Institute of Intelligent Systems and Robotics of the Sorbonne Univeristé. In 2015 I received a master degree in Mechatronics from the Ecole Normale Superieur de Cachan.

My research

My research is focused on the expression of control laws for robotic manipulators to realise complexed tasks in a dynamic environment. To do so I use quadratic programming problem formulations. This allows to respect constraints that can be intrinsic to the robot (e.g the joint position limits, joint velocity limits, …) or extrinsic (e.g virtual walls, …) while performing a set of tasks as best as possible.

I enjoy doing experimental work. All the projects I worked on involve interactions with collaborative robot.

My fonctions

Since I arrived in the Auctus team, I helped extend the experimental platform in parallel of my research. To do so, I developped the control architecture of the two Franka Emika panda robots, including the many sensors used around it (RGBD cameras, laser sensor, F/T sensor, …). This control architecture mainly uses ROS with the many tools along side.

I developped two libraries to formulate QP problem for robot manipulators at the joint velocity and torque level: torque_qp and velocity_qp. All the softwares developped for the team are open source and free of use and can be found here.

I’m also handling the technical aspects of the Auctus team (wifi, computer inventory, …).

Finnaly, I’m administrating the Auctus gitlab account.