Patrick Pirim

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Drawing inspiration from biology, the Psikharpax project aims at endowing a robot with a sensori-motor equipment and a neural control architecture that will afford some of the capacities of autonomy and adaptation that are exhibited by real rats. The paper summarizes the current state of achievement of the project. It successively describes the robot's(More)
We endowed a whiskered robot with a simple algorithm allowing to discriminate textures. Its efficiency and robustness have been demonstrated using both a fixed head and a mobile platform. Comparatively to previous similar approaches, this system affords greater behavioral capacities and proves to be able to complement or supply vision in simple navigation(More)
– This article describes the elastomer-based whisker system that has been implemented in the artificial rat Psikharpax. The corresponding system calls upon two arrays of 33 whiskers each, which mimic as closely as possible the organization of a rat's vibrissae. The capacity of each whisker to perform texture discrimination is demonstrated. However, it is(More)
We propose an integrated model of the saccadic circuitry involved in target selection and motor command. It includes the Superior Colliculus and the Basal Ganglia in both cortical and subcortical loops. This model has spatial and feature-based learning capabilities which are demonstrated on various saccade tasks on a robotic platform. Results show that it(More)
A new method for self-supervised sensorimotor learning of sound source localization is presented, that allows a simulated listener to learn online an auditorimotor map from the sensorimotor experience provided by an auditory evoked behavior. The map represents the auditory space and is used to estimate the azimuthal direction of sound sources. The learning(More)
In a world of unknown, touch modality is a key avenue for environments exploration. Implementation of such modality in mobile robot has been a major challenge for many research teams. Recently, several artificial whisker systems have been studied as promising tactile sensor. One key to the whisker's functionality is its sensor system. Our laboratory(More)
Audition and touch endow spectral processing abilities allowing texture recognition and discrimination. Rat whiskers sensory system exhibits, as the cochlea, resonance property decomposing the signal over frequencies. Moreover, there exists strong psychophysical and biological interactions between auditory and somatosensory corteces concerning texture(More)
The synthesis of electronic conducting interpenetrating polymer networks is proposed as an alternative to multilayer architectures for the design of electroactive devices [1]. The electronic conducting polymer (ECP) poly(3,4-ethylenedioxythiophene) (PEDOT) as Electroactive Polymer (EAP) was symmetrically distributed in a solid polymer electrolyte (SPE)(More)