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This git-hub repository is dedicated to my PhD work on the hexapod walking robot AntBot. It gathers 3D parts for replication, but also some programs and experimental results. These materials go along with the following publications (international peer reviewed journals and conferences):

Awards and Honnours

Communications about the AntBot project

Journal papers

[3] Dupeyroux, J., Serres, J., and Viollet, S. (2019). Antbot: a six-legged walking robot able to home like desert ants in outdoor environments. Science Robotics, vol. 4 (eaau0307).
IF: 19.400 (JCR rank 1/26 in Robotics).

[2] Dupeyroux, J., Viollet, S., and Serres, J. (2019). Polarized skylight-based heading measurements: a bio-inspired approach. Journal of the Royal Society Interface, vol. 16, no. 150 (20180878).
IF: 3.224 (JCR rank 16/69 in Multidisciplinary Sciences).

[1] Dupeyroux, J., Viollet, S., and Serres, J. (2019). An ant-inspired celestial compass applied to autonomous outdoor robot navigation. Robotics and Autonomous Systems, vol. 117 (40-56).
IF: 2.928 (JCR rank 11/26 in Robotics, and 45/134 in Computer Science & Artificial Intelligence).

International conferences

[6] Dupeyroux, J., Serres, J., and Viollet, S. (2019). AntBot: a fully insect-inspired hexapod homing like desert ants. 4th International Conference on Invertebrate Vision (ICIV 2019), Bäckaskog Castle, Suède.
Acceptance rate: 25%.

[5] Dupeyroux, J., Serres, J., and Viollet, S. (2018). A hexapod walking robot mimicking navigation strategies of desert ants Cataglyphis. Conf. on Biomimetic and Biohybrid Systems (145-156), Paris, France. Springer, Cham.

[4] Dupeyroux, J., Boutin, V., Serres, J. R., Perrinet, L. U., and Viollet, S. (2018). M 2 APix: A bio-inspired auto- adaptive visual sensor for robust ground height estimation. Circuits and Systems (ISCAS), 2018 IEEE International Symposium on (1-4), Florence, Italie.
Acceptance rate: 53%.

[3] Dupeyroux, J., Diperi, J., Boyron, M., Viollet, S., and Serres, J. (2017). A novel insect-inspired optical com- pass sensor for a hexapod walking robot. Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on (3439-3445), Vancouver, Canada.
Acceptance rate: 45%.

[2] Dupeyroux, J., Diperi, J., Boyron, M., Viollet, S., and Serres, J. (2017). A bio-inspired celestial compass applied to an ant-inspired robot for autonomous navigation. Mobile Robots (ECMR), 2017 IEEE European Conference on (1-6), Paris, France.

[1] Dupeyroux, J., Passault, G., Ruffier, F., Viollet, S., and Serres, J. (2017). Hexabot: a small 3D-printed six- legged walking robot designed for desert ant-like navigation tasks. IFAC Word Congress 2017 (1628-1631), Toulouse, France.

Two other conference papers have been submitted at the next 28th Mediterranean Conference on Control and Automation (MED’2020), IEEE, to be held in Saint Raphaël, France:

[2] Dupeyroux, J., Viollet, S., and Serres, J. Insect-inspired panoramic vision for autonomous navigation on-board a hexapod robot.

[1] Dupeyroux, J., Viollet, S., and Serres, J. Sensing the celestial pattern of polarization yields new opportunities for autonomous urban ground navigation.

National peer-reviewed journal papers (France)

[2] Viollet, S., Dupeyroux, J., and Serres, J. (2020). Conception et réalisation d’un robot bio-inspiré : le robot fourmi AntBot. Techniques & Culture, vol. 73 (in press).

[1] Dupeyroux, J., Viollet, S., and Serres, J. (2020) AntBot : un robot qui s’oriente comme une fourmi - Applications à la navigation à vue sans GPS ni magnétomètre. Techniques de l’Ingénieur (Réf : IN236).

National conferences (France)

[1] Dupeyroux, J., Viollet, S., and Serres, J. (2017). Providing an autonomous hexapod walking robot with the ability to reorientate : application of a novel ant-inspired celestial compass. Journées Jeunes Chercheurs en Robotique 2017, Bayonne, France.


[1] Dupeyroux, J., Monnoyer, J., Serres, J., and Viollet, S. Dispositif de détection du cap d’un véhicule par détection de photons polarisés linéairement. Patent no. FR3086088.

Science popularization

[3] Dupeyroux, J., Viollet, S., and Serres, J. (2019). AntBot is able to go home like desert ants.
The Science Breaker.

[2] Dupeyroux, J. (2019). Ce petit robot qui navigue sans GPS comme une fourmi.
The Conversation.

[1] Dupeyroux, J., Viollet, S., and Serres, J. (2019). AntBot : un robot fourmi autonome qui navigue sans GPS.
La Lettre de Grand Luminy Technopôle, no. 100, p. 12.

Press coverage (selected)

Science - This ant-inspired robot can navigate better than civilian GPS.

Nature Electronics - AntBot makes its own way home.

Wired - A 6-legged robot stares at the sky to navigate like a desert ant.

Digital Trends - Ant-inspired walking robot navigates without GPS by using polarized light.

New Scientist - Robot mimics desert ants to find its way home without GPS.

de Volkskrant - Robot weet de weg zonder gps dankzij woestijnmier.

Le Monde - AntBot, un robot autonome inspiré par des fourmis du désert.

Les Echos - Un capteur peu coûteux pour naviguer sans GPS.

France Inter - C’est une innovation marquante: ce robot-fourmi s’oriente sans GPS.

La Provence - Marseille : le robot inspiré de la fourmi du désert.

Science et Avenir - Ce robot se déplace en se repérant comme les fourmis du désert.

Science et Vie - Ce robot réussit à s’orienter grâce à la lumière du soleil.


This github gathers everything needed to reproduce AntBot, the hexapod robot I developped during my PhD.



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