Projects/Misc

Software

I develop and maintain software based on libmove3d which has been developed at LAAS/CNRS. The Move3D suite implements motion planning and geometric reasoning algorithms in C/C++. An install script for ubuntu can be found on my github account. I have also developed a move3d plugin for OpenRAVE which enables to use the algorithms developed in Move3D with OpenRAVE.

Darpa Robotics Challenge

I have participated in the DARPA Robotics Challenge (DRC) in 2013. This project aims at enhancing the state of the art in disaster recovery robotics. Each team must perform 8 elementary tasks (valve turning, door opening, ladder climbing, etc. ). The following video, which will be presented at ICRA2014, summarizes the progress made until September 2013 on the valve turning event in Team DRC-Hubo which I was a part of. [IROS14, JISR15]

Human-Robot Theater Play

I participated on the technical aspects of theater play given in Toulouse, France involving the PR2 robot and two artists. The play depicted the interaction between a human and a robot by means of 2D bar codes. [HRI12]