About me

Here is the different steps in my professional life from the formations to the missions I performed

Formations:

PhD in Robotics

Context :
2017-2020 PhD in Robotics, LAAS-CNRS Gepetto, Toulouse.

Here is the title of my PhD:
TOWARDS A REACTIVE MOTION GENERATION ON EXTEROCEPTIVE FEEDBACK FOR GENERALIZED LOCOMOTION OF HUMANOID ROBOTS

I recieved classes during this 3 years period :

60 hours scientific courses (constrained optimization, ros1, middlewares, bayesian networks)
40 hours general courses (I choosed only entrepreneurship formations, ethic one is mandatory)
20 hours english courses

Master in Intelligent systems and Robotics

Context :
2014–2015, UPMC (SAR/SIR), Paris

The main part of this master adresses robotics main tools (sensors, actuators, control types, rigid body dynamics and polyarticulated chains), but it focuses on machine learning technics (classification, regression, SVM, Gaussian mixture model, RRT, CNN). In bulk here are some tools explained during this formation: Kalman filter, 2D sound localization, event camera explanations.

Master in Vision and Control

Context :
2013–2014, UTLN, Toulon

On the one hand, this master focuses on 3D reconstruction (camera calibration, epipolar model, image mapping) with machine learning main knowledge. On the other hand, the courses adresses the descriptors (least sqaure estimation, maximum liklihood estimation), and the optimal control theory through the Pontryagin’s maximum principle applied to Lie algebra.

Engineer graduation in Mechatronics and Robotics

Context :
2011–2014 Mechatronics and Robotics Engineer at SUPMECA Engineer Institute, Toulon

The major of this formation turns around mechanical conception. Technical drawing, modeling with CATIA software, strength of materials, steels compositions and properties, kinematics, rigid bodies dynamics, vibratory mechanics. My specialization went in a mechatronics and robotics: sensors, conditioners and actuators types, sizing and on the shelf components selection. This section went in synergy to the Master courses presented previously. Entrepreneuship, HR, C/C++, fuzzy logic couses were also present to complete the formation.

During this period I achieve some projects like fuzzy logic controler for wheeled line follower robot (arduino). I participated to the construction of the 1 meter long autonomous sailboat Marius (fuzzy logic controler for the steering). I lead robotics club (CRIS) of Supmeca for 3 years as president of the association.

Professional experiences:

Robotics Engineer

Context :
Novembre 2020 – Decembre 2022, REEV SAS, Toulouse,

Our team builds sensors of human gait biomarkers, as well as an actuated orthosis. In this context I realized this kind of activities:
Optimization algoithm for biomarkers computation. Verification protocol for assessing precision of our sensor against Motion capture ground truth with a clinical partner. Design of a 4 axis robotic test bench in order to test state of the art trajectories in verification sensor data. Mechanical design of plastic injectd parts. Multidisciplinary support (mechanics, control/command, software) and prototyping. Deployment and support of a versionning a tool (GIT) Risk assessment in a certification context for an electro-medical device IEC 60601

PhD in Humanoid Robotics

Context :
January 2017 – January 2020, LAAS-CNRS, Gepetto, Toulouse

Software implementation for generating whole body multicontact motions for the Talos humanoid robot. Online step generation loop control on motion capture feedback, Linux+ROS architecture on the HRP2 robot. Visual servoing equation immlementation in a non linear optimal control framework, tests and simulaition on Gazebo before validation on the robot.

Research Engineer

Context: \ January 2015 – January 2017}, LAAS-CNRS, Gepetto, Toulouse

Software implementation and mechanical support of ROMEO humanoid robot. Software deployment on an embeded Linux Gentoo architecture. Interprocess-communication between academical software suite Stack of Tasks and the proprietary architecture. System identification and control of a Series Elastic Actuator (SEA) testbench. Responsible for robots demonstrations and usage training for ROMEO and HRP2 robots. Responsable démonstrations et formations à l’utilisation des robots ROMEO et HRP2.

Engineer intern

February 2014 – July 2014, CEA, Marcoule

Darwin-op small humanoid robot integration in a nuclear environment. Inspection and cleaning tasks in nuclear glove box. Integration of a gamma spectrometry detector with 3D printing. Design of a control interface with a Kinect for arm motions, a joystick for gait direction and a augmented glove for gripper, used through an arduino board to connect to the ROS/Linux layer of the robot.

Assistant Engineer intern

Context:
Août 2013 – Decembre 2013, SEGULA INDUSTRIE HANSA, Vitrolles

Design of a helicopter sub-system to help Persons with Reduced Mobility to get onboard. Kinematics definition and mechanical sizing, CATIA.

Operator intern

Context:
January 2012 – February 2012, Ateliers Wasser, Montpellier

Machining on digital control center, validation of tolerances.