In recent years, the Bio-inspired Robotics Group of Robotics team IRCCyN has developed an artificial bio-inspired electric fish sense. To emulate the electrical sense, resistive probes were used for piloting the IRCCyN submarine autonomous robot.
For its part, within the Interactive Robotics Laboratory (LRI), the CEA LIST has been pursuing for several years a research activity in the field of force feedback telerobotics. The operator manipulates a slave robot located in hostile environments via a master arm located in a safe area and a computer system.
The candidate’s work will take place in a CEA- IRCCyN project running in parallel over a first project whose purpose is to demonstrate the concept of electro- haptic loop on a Cartesian arm carrying an electric probe with a fixed and known geometry. The postdoc will be in charge of implementing the loop on a "marinized" manipulator arm with a complex geometry. To do this, with the assistance of CEA and IRCCyN , he/she will support the preparation of this arm and adaptation of electrical sensor (emitter electrodes , receiver , electronic) architecture considered , as well as the adaptation of the monitoring / control of the haptic interface at the base of the electro-haptic loop. In addition to the technological challenges of this adaptation, the candidate must also consider different strategies to exploit the electric field on a multi-body system of variable geometry.
Experimental validation and proof of concept of this new offshore teleoperation system will be carried out on scenarios, to be defined, representative of the final application.