Fabien Expert

Fabien Expert
Wandercraft

Doctor of Engineering

About

20
Publications
6,108
Reads
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559
Citations
Introduction
Doctor in bio-inspired robotics and engineer specialized in Automatics and Electronics, I am currently a mechatronic engineer in the Wandercraft company which is a groundbreaking start-up currently developping an exoskeleton for people with impaired mobility.
Additional affiliations
October 2010 - March 2012
Aix-Marseille Université
Position
  • Research Assistant
Description
  • Automatics in Master thesis at the Aix-Marseille University
January 2010 - December 2011
Mines Saint-Etienne
Position
  • Research Assistant
Description
  • Matlab project at the french engineering school Ecole des Mines de St-Etienne
October 2009 - October 2013
Aix-Marseille Université
Position
  • PhD in biorobotics

Publications

Publications (20)
Article
In recent years, lower-limb exoskeletons have been marketed to become a possible alternative to wheelchairs for people with walking impairments or paralysis. However, most assistive exoskeletons rely on constraining control strategies based on remote controls or torso tilting events. One approach to build more intuitive control interfaces would be...
Conference Paper
Full-text available
Bio-inspired guidance principles involving no reference frame are presented here and were implemented in a rotorcraft called Beerotor, which was equipped with a minimalistic panoramic optic flow sensor and no accelerometer, no inertial measurement unit (IMU) [9], as observed in flying insects (The halters of Diptera are only sensitive to rotation r...
Article
Full-text available
Two bio-inspired guidance principles involving no reference frame are presented here and were implemented in a rotorcraft, which was equipped with panoramic optic flow (OF) sensors but (as in flying insects) no accelerometer. To test these two guidance principles, we built a tethered tandem rotorcraft called BeeRotor (80 grams), which was tested fl...
Article
Full-text available
In this paper, we present: (i) a novel analog silicon retina featuring auto-adaptive pixels that obey the Michaelis-Menten law, i.e. V = V m I n I n + σ n; (ii) a method of characterizing silicon retinas, which makes it possible to accurately assess the pixels’ response to transient luminous changes in a ±3-decade range, as well as changes in the i...
Article
Full-text available
The demand for bendable sensors increases constantly in the challenging field of soft and micro-scale robotics. We present here, in more detail, the flexible, functional, insect-inspired curved artificial compound eye (CurvACE) that was previously introduced in the Proceedings of the National Academy of Sciences (PNAS, 2013). This cylindrically-ben...
Chapter
Flying insects excellently master visual motion sensing techniques. They use dedicated motion processing circuits at a low energy and computational costs. Thanks to observations obtained on insect visual guidance, we developed visual motion sensors and bioinspired autopilots dedicated to flying robots. Optic flow-based visuomotor control systems (V...
Article
Full-text available
In most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens eyes, but significantly larger fields of view with negligible distortion and spherical aberration, as well as high temporal resolution in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Enginee...
Article
Full-text available
Optic flow-based autopilots for Micro-Aerial Vehicles (MAVs) need lightweight, low-power sensors to be able to fly safely through unknown environments. The new tiny 6-pixel visual motion sensor presented here meets these demanding requirements in terms of its mass, size, and power consumption. This 1-gram, low-power, fly-inspired sensor accurately...
Article
Full-text available
In most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens eyes, but significantly larger fields of view with negligible distortion and spherical aberration, and high temporal resolution in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Engineering a...
Conference Paper
Full-text available
Insects flying abilities based on optic flow (OF) are nice bio-inspired models for Micro Aerial Vehicles (MAVs) endowed with a limited computational power. Most OF sensing robots developed so far have used numerically complex algorithms requiring large computational power often carried out offline. The present study shows the performances of our bi...
Conference Paper
Full-text available
The new robot called BeeRotor we have developed is a tandem rotorcraft that mimicks optic flow-based behaviors previously observed in flies and bees. This tethered miniature robot (80g), which is autonomous in terms of its computational power requirements, is equipped with a 13.5-g quasi-panoramic visual system consisting of 4 individual visual mot...
Conference Paper
Full-text available
In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. In the present study, a new programmable visual motion sensor connected to a lightweight Bluetooth module was mounted on a free-flying 50...
Article
Full-text available
In this project, we aim at designing, developing, and assessing CURVed Artificial Compound Eyes (CURVACE), a radically novel family of vision systems that will provide more efficient visual abilities for embedded applications that require motion analysis in low-power and small packages. Compared to conventional cameras, artificial compound eyes wil...
Article
Full-text available
Autopilots for micro aerial vehicles (MAVs) with a maximum permissible avionic payload of only a few grams need lightweight, low-power sensors to be able to navigate safely when flying through unknown environments. To meet these demanding specifications, we developed a simple functional model for an Elementary Motion Detector (EMD) circuit based on...
Article
Full-text available
Insects can accurately navigate and track sound sources in complex environments using efficient methods based on highly appropriate sensory-motor processing systems. It is proposed here to describe, model and test these methods, by designing them for a micro-flying device. For this purpose, a new bio-mimetic acoustic sensor inspired by the cricket'...
Article
Full-text available
Considerable attention has been paid during the last decade to navigation systems based on the use of visual optic flow cues, especially for guiding autonomous robots designed to travel under specific lighting conditions. In the present study, the performances of two visual motion sensors used to measure a local 1-D angular speed, namely (i) a bio-...
Article
Considerable attention has been paid during the past decade to navigation systems based on the use of visual optic flow cues. Optic flow--based visuomotor control systems have been implemented on an increasingly large number of sighted autonomous robots designed to travel under specific lighting conditions. Many algorithms based on conventional cam...

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