{"id":269,"date":"2022-04-16T15:25:56","date_gmt":"2022-04-16T13:25:56","guid":{"rendered":"https:\/\/serres-lab.com\/?page_id=269"},"modified":"2025-04-10T11:25:17","modified_gmt":"2025-04-10T09:25:17","slug":"robot-mouche-mobile-robot","status":"publish","type":"page","link":"https:\/\/serres-lab.com\/fr\/recherche\/projets-de-recherche-acheves\/robot-mouche-mobile-robot\/","title":{"rendered":"Le Robot-mouche"},"content":{"rendered":"\n<div class=\"wp-block-group header is-layout-flow wp-block-group-is-layout-flow\">\n<h2 class=\"wp-block-heading\" id=\"hexapod-robotics\"><strong>Le Robot-mouche<\/strong><\/h2>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>Nicolas Franceschini a consacr\u00e9 toute sa carri\u00e8re \u00e0 percer les myst\u00e8res de la vision chez la mouche. En 1979, il cr\u00e9ait son \u00e9quipe de recherche en neurocybern\u00e9tique apr\u00e8s un passage de 14 ans \u00e0 l\u2019universit\u00e9 de T\u00fcbingen en Allemagne. Cette \u00e9quipe, aujourd\u2019hui devenue Biorobotique, s\u2019est notamment int\u00e9ress\u00e9e \u00e0 la compr\u00e9hension de la vision chez la mouche. Apr\u00e8s 20 ann\u00e9es de recherche, entre 1989 et 1991, le tout premier robot autonome inspir\u00e9 de la mouche f\u00fbt cr\u00e9\u00e9. Equip\u00e9 de 116 d\u00e9tecteurs de mouvement \u00e9l\u00e9mentaires, le robot mouche \u00e9tait capable d\u2019\u00e9viter les obstacles en les d\u00e9tectant par flux optique \u00e0 la mani\u00e8re des mouches.<\/p>\n\n\n\n<p>Le Robot-mouche pesait approximativement 11 kg et pouvait se d\u00e9placer avec une vitesse maximale de 50 cm\/s dans un environnement encombr\u00e9. L&rsquo;oeil compos\u00e9 biomim\u00e9tique panoramique, comprenant seulement 118 pixels formant 116 d\u00e9tecteurs \u00e9l\u00e9mentaires de mouvements, directement inspir\u00e9s des ommatidies de l&rsquo;oeil des mouches sensibles au flux optique. Cette modalit\u00e9 sensorielle a permis au robot mouche de r\u00e9aliser des t\u00e2ches de navigation par phototaxie tout en \u00e9vitant des obstacles dans un environnement inconnu compos\u00e9 de poteaux verticaux.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"459\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Robot-mouche.png\" alt=\"\" class=\"wp-image-221\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Robot-mouche.png 500w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Robot-mouche-300x275.png 300w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Robot-mouche (Robot Fly) from Franceschini&#039;s Lab avoiding a cluttered environment in 1991\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/Z6MtuifNLEo?start=1&#038;feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption>Le Robot-mouche en action &#8211;&nbsp;<a href=\"https:\/\/doi.org\/10.1098\/rstb.1992.0106\">Franceschini et al. (1992<\/a>)<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Robot-mouche (Robot Fly): the first fully autonomous optic flow-based robot from Franceschini&#039;s Lab\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/XEKRYBNIT_w?start=3&#038;feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption>Le Robot-mouche en action &#8211;&nbsp;<a href=\"https:\/\/doi.org\/10.1098\/rstb.1992.0106\">Franceschini et al. 1992<\/a>.<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<h3 class=\"wp-block-heading\">Publications<\/h3>\n\n\n\n<ul class=\"publicationsList wp-block-list\"><li>Franceschini, N. (2014). <a href=\"http:\/\/www.doi.org\/10.1109\/JPROC.2014.2312916\">Small brains, smart machines : from fly vision to robot vision and back again<\/a>. <em>Proceedings of the IEEE<\/em>, 102(5), 751\u2013781.<\/li><li>Franceschini, N., Pichon, J. M., Blanes. <a href=\"http:\/\/www.doi.org\/10.1098\/rstb.1992.0106\">From insect vision to robot vision<\/a>. <em>Philosophical Transactions of The Royal Society Of London. Series B: Biological Sciences<\/em>,&nbsp;337(1281), 283-294.<\/li><li>Franceschini, N., Pichon, J. M., &amp; Blanes, C. (1997).&nbsp;<a href=\"https:\/\/hal-amu.archives-ouvertes.fr\/hal-02329942\">Bionics of visuo-motor control<\/a>. Evolutionary Robotics: From Intelligent Robots to Artificial Life, (T. Gomi, ed.), AAI Books, Ottawa, Canada, 49-67.<\/li><\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\"><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"459\" data-id=\"795\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Robot-mouche-1992-copyright-CNRS-Phototheque-Nicolas-Franceschini.png\" alt=\"\" class=\"wp-image-795\"\/><figcaption>Robot-mouche construit en 1991 \u00e0 Marseille.<\/figcaption><\/figure>\n<\/figure>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"939\" height=\"942\" data-id=\"801\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/EMD.jpg\" alt=\"\" class=\"wp-image-801\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/EMD.jpg 939w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/EMD-797x800.jpg 797w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/EMD-400x400.jpg 400w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/EMD-768x770.jpg 768w\" sizes=\"auto, (max-width: 939px) 100vw, 939px\" \/><figcaption>Layout PCB des circuits analogiques d\u00e9tectant le mouvement &#8211; <a href=\"https:\/\/doi.org\/10.1098\/rstb.1992.0106\">Franceschini et al. (1992<\/a>)<\/figcaption><\/figure>\n<\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1579\" height=\"1129\" data-id=\"799\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Fly_EMD.jpg\" alt=\"\" class=\"wp-image-799\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Fly_EMD.jpg 1579w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Fly_EMD-800x572.jpg 800w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Fly_EMD-768x549.jpg 768w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/Fly_EMD-1536x1098.jpg 1536w\" sizes=\"auto, (max-width: 1579px) 100vw, 1579px\" \/><figcaption>L&rsquo;oeil panoramique du Robot-mouche s&rsquo;inspire de la vision du mouvement des mouches &#8211; <a href=\"https:\/\/doi.org\/10.1016\/j.jphysparis.2004.06.002\" data-type=\"URL\" data-id=\"https:\/\/doi.org\/10.1016\/j.jphysparis.2004.06.002\">Franceschini (2004)<\/a><\/figcaption><\/figure>\n<\/figure>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"952\" data-id=\"797\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/FlyRobot2.jpg\" alt=\"\" class=\"wp-image-797\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/FlyRobot2.jpg 700w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/09\/FlyRobot2-588x800.jpg 588w\" sizes=\"auto, (max-width: 700px) 100vw, 700px\" \/><figcaption>Diff\u00e9rentes couches \u00e9lectroniques du Robot-mouche. 100% avec des technologies analogiques &#8211; <a href=\"https:\/\/doi.org\/10.1098\/rstb.1992.0106\">Franceschini et al. (1992<\/a>)<\/figcaption><\/figure>\n<\/figure>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Premier robot autonome au monde guid\u00e9 par le flux optique, le Robot-mouche est \u00e9quip\u00e9 de 116 d\u00e9tecteurs de mouvement \u00e9l\u00e9mentaires r\u00e9alis\u00e9s en \u00e9lectronique totalement analogique. Le Robot-mouche \u00e9tait capable de rouler \u00e0 50 cm\/s tout en \u00e9vitant les obstacles en les d\u00e9tectant sur la base du flux optique \u00e0 la mani\u00e8re des mouches.<\/p>\n","protected":false},"author":1,"featured_media":221,"parent":110,"menu_order":14,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-269","page","type-page","status-publish","has-post-thumbnail","hentry","entry"],"_links":{"self":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/269","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/comments?post=269"}],"version-history":[{"count":9,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/269\/revisions"}],"predecessor-version":[{"id":1483,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/269\/revisions\/1483"}],"up":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/110"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media\/221"}],"wp:attachment":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media?parent=269"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}