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Biography |
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Franck Ruffier received an engineering degree in 2000 and a Ph.D. degree from INP-Grenoble in 2004, as well as a habilitation to supervise research (HDR in French) from Aix-Marseille University in 2013. His present position is CNRS research scientist and co-head of the Biorobotics Lab at the Institute of Movement Science (ISM). His main areas of interest are insect visual guidance, vision chips, bio-inspired optic flow processing, and biomimetic sensory motor-control laws.
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Abstract |
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Biomimetic robots account for the direct use of optic flow in insect vertical control of flight |
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Flying insects are endowed with several sensory modalities, but the optic flow appears to be the main cue for the vertical flight control [1, 2]. We showed recently that robots equipped with a new autopilot based on the optic flow regulators are able to control their course without requiring a state vector describing their absolute speed, position or altitude [3, 4, 5] : the robots trajectories mimick the insects trajectories even in the presence of wind [3, 5]. By applying optic flow criteria, these robots manipulate forces by the way of rotor and thruster speed and thus adjust their speed of flight, their lateral position or their altitude without any state vector [3, 4]. This optic flow based steering control system makes them avoid obstacles even in unstable environments without any need for maps [4] and even without any measurement and control of its absolute pitch [6]. References: [1] G. Portelli, F. Ruffier, F.L. Roubieu, N Franceschini. (2011) "Honeybees' Speed Depends on Dorsal as Well as Lateral, Ventral and Frontal Optic Flows" PLoS ONE 6(5): e19486. doi:10.1371/journal.pone.0019486 [2] G. Portelli, F. Ruffier, N. Franceschini (2010) "Honeybees change their height to restore their Optic Flow" Journal of Comparative Physiology A, Springer, 196(4):307-313 [3] F. Ruffier, N. Franceschini (2005) "Optic flow regulation: the key to aircraft automatic guidance" Robotics and Autonomous Systems, Vol. 50, No 4, 31 March 2005, pp. 177-194 [4] F. Ruffier, N. Franceschini (2014) Open Access "Optic Flow Regulation in Unsteady Environments : A Tethered MAV Achieves Terrain Following and Targeted Landing Over a Moving Platform" J. Intell. Robot Syst., Springer, DOI 10.1007/s10846-014-0062-5 [5] F. L. Roubieu, J. R. Serres, F. Colonnier, N. Franceschini, S. Viollet, F. Ruffier (2014) Open access "A biomimetic vision-based hovercraft accounts for bees' complex behaviour in various corridors" Bioinspiration & Biomimetics, IOP, 2014, 9(3) 036003 (22pp) [6] F. Expert and F. Ruffier (2015) Open access "Flying over uneven moving terrain based on optic-flow cues without any need for reference frames or accelerometers" Bioinspiration and Biomimetics, IOP |
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