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class="page-header--item page-titlebar "> <div class="page-titlebar-inner customify-container"> <h1 class="titlebar-title h4">Plateforme en Robotique</h1> </div> </div> <div id="site-content" class="site-content"> <div class="customify-container"> <div class="customify-grid"> <main id="main" class="content-area customify-col-9_sm-12"> <div data-elementor-type="wp-page" data-elementor-id="402" class="elementor elementor-402" data-elementor-post-type="page"> <section class="elementor-section elementor-top-section elementor-element elementor-element-3628706 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="3628706" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-6dbe22c" data-id="6dbe22c" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-99a4cf8 elementor-widget elementor-widget-text-editor" data-id="99a4cf8" data-element_type="widget" data-widget_type="text-editor.default"> <div class="elementor-widget-container"> <p style="text-align: justify">La plateforme Robotique est une plateforme technologique dédiée à la recherche, au transfert de technologies et à l’enseignement. </p><p style="text-align: justify">La plateforme Robotique regroupe les moyens matériels et logiciels ainsi que les ingénieurs qui interviennent pour assurer le développement et la maintenance des robots. Quatre halles d’expérimentations d’une surface totale de plus de 1000m2 hébergent une vingtaine de robots, des systèmes de mesure et de capture de mouvement et une grande variété de capteurs. Des composants logiciels ont été développés pour faciliter la programmation de ces équipements.</p><p>La plateforme Robotique fait partie du réseau national de plateformes expérimentales de robotique <img decoding="async" src="http://equipex-robotex.fr/fileadmin/templates/DUN/robotex/images/logo.png" alt="Robotex" width="164" height="32" />. </p> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-96a030c elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="96a030c" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-9aaa454" data-id="9aaa454" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-f8cc4d4 elementor-widget elementor-widget-testimonial" data-id="f8cc4d4" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="150" height="113" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/10/LIRMM_Olivier_Tempier.jpg" class="attachment-full size-full wp-image-3004" alt="" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Olivier TEMPIER</div> <div class="elementor-testimonial-job">Responsable technique</div> </div> </div> </div> </div> </div> </div> </div> </div> <div class="elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-e4d344b" data-id="e4d344b" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-a9473e9 elementor-widget elementor-widget-testimonial" data-id="a9473e9" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="152" height="114" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/10/LIRMM_Robin_Passama.jpg" class="attachment-full size-full wp-image-3003" alt="" srcset="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/10/LIRMM_Robin_Passama.jpg 152w, https://www.lirmm.fr/wp-content/uploads/sites/3/2020/10/LIRMM_Robin_Passama-150x114.jpg 150w" sizes="(max-width: 152px) 100vw, 152px" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Robin PASSAMA</div> <div class="elementor-testimonial-job">Responsable technique</div> </div> </div> </div> </div> </div> </div> <div class="elementor-element elementor-element-26760e7 elementor-widget elementor-widget-testimonial" data-id="26760e7" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="136" height="149" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2025/02/LucasLAVENIR.png" class="attachment-full size-full wp-image-28086" alt="" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Lucas LAVENIR</div> <div class="elementor-testimonial-job">Responsable technique</div> </div> </div> </div> </div> </div> </div> </div> </div> <div class="elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-ea4987d" data-id="ea4987d" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-954c7b3 elementor-widget elementor-widget-testimonial" data-id="954c7b3" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="150" height="137" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/10/LIRMM_Marc_Gouttefarde.jpg" class="attachment-full size-full wp-image-2806" alt="" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Marc GOUTTEFARDE</div> <div class="elementor-testimonial-job">Responsable scientifique</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-115142f elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="115142f" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-35a1d08" data-id="35a1d08" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-d6581d9 elementor-widget elementor-widget-heading" data-id="d6581d9" data-element_type="widget" data-widget_type="heading.default"> <div class="elementor-widget-container"> <h3 class="elementor-heading-title elementor-size-default">Robotique pour l'industrie du futur </h3> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-1b7e045 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="1b7e045" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-498573b" data-id="498573b" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-5bbdf5a elementor-widget elementor-widget-image" data-id="5bbdf5a" data-element_type="widget" data-widget_type="image.default"> <div class="elementor-widget-container"> <img loading="lazy" decoding="async" width="1536" height="149" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-1536x149.jpg" class="attachment-1536x1536 size-1536x1536 wp-image-12984" alt="" srcset="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-1536x149.jpg 1536w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-300x29.jpg 300w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-1024x99.jpg 1024w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-768x74.jpg 768w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/04/PlateformeFutur_LIRMM2-1-2048x198.jpg 2048w" sizes="(max-width: 1536px) 100vw, 1536px" /> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-a257ff5 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="a257ff5" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-34c1880" data-id="34c1880" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-9d57b72 elementor-widget elementor-widget-toggle" data-id="9d57b72" data-element_type="widget" data-widget_type="toggle.default"> <div class="elementor-widget-container"> <div class="elementor-toggle"> <div class="elementor-toggle-item"> <div id="elementor-tab-title-1641" class="elementor-tab-title" data-tab="1" role="button" aria-controls="elementor-tab-content-1641" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Objectifs</a> </div> <div id="elementor-tab-content-1641" class="elementor-tab-content elementor-clearfix" data-tab="1" role="region" aria-labelledby="elementor-tab-title-1641"><p>Cette plateforme regroupe les équipements qui permettent de développer les activités de recherche du laboratoire dans les domaines de l’interaction physique homme-robot et de la manipulation rapide et précise sur des espaces de grande dimension.</p><p>Mots clé : Cobotique, humanoïde, robots à cables, robotique terrestre</p></div> </div> <div class="elementor-toggle-item"> <div id="elementor-tab-title-1642" class="elementor-tab-title" data-tab="2" role="button" aria-controls="elementor-tab-content-1642" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Equipements</a> </div> <div id="elementor-tab-content-1642" class="elementor-tab-content elementor-clearfix" data-tab="2" role="region" aria-labelledby="elementor-tab-title-1642"><p><span style="text-decoration: underline"><strong>Espace robots humanoïdes</strong></span></p><ul><li>2 robots humanoïde <strong><a href="https://www.youtube.com/channel/UCYCRcW6xsxYtSxOn6btBf8w" target="_self">HRP4</a></strong> et <strong>HOAP.</strong></li></ul><p><span style="text-decoration: underline"><strong>Espace robots collaboratifs</strong></span></p><ul><li>1 cobot <strong>BAZAR, </strong>robot collaboratif pour l’industrie et la santé qui permet la co-manipulation entre un homme et un robot.</li><li>2 mains <strong>Shadow</strong>.</li><li>2 Scanner Laser <strong>SICK </strong>(plage de mesure jusqu’à 49m).</li><li>1 laser tracker.</li><li>1 bras robotique <strong>Kuka.</strong></li><li>1 bras robotique<strong> SIA20 Yaskawa</strong> (7 axes. Charge 20Kg. Portée verticale 1498 mm. Portée horizontale 910 mm. Contrôleur DX100).</li></ul><p><span style="text-decoration: underline"><strong>Espace robots parallèles</strong></span></p><ul><li>1 robot parallèle <strong>Quattro</strong> <a href="https://www.youtube.com/channel/UC870Se7GH9x3xmO_GFRAlOg" target="">Videos</a>.</li></ul><p><span style="text-decoration: underline"><strong>Espace robot à câbles</strong></span></p><p>Un espace est dédié à un robot à câbles (<strong><a href="https://www.youtube.com/watch?v=An_i8xoMXDc&feature=youtu.be" target="_blank" rel="noopener">COGIRO</a></strong>) composé d’une base mobile suspendue par 8 câbles.</p><p style="text-align: justify">Nous disposons également d’une <b>Imprimante 3D </b>professionnelle (<strong>STRATASYS FORTUS 400</strong>) qui permet la fabrication de pièces mécaniques de grand volumes (400x400x400mm)</p></div> </div> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-413b34d elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="413b34d" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-0e0f2a3" data-id="0e0f2a3" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-8d795a6 elementor-widget-divider--view-line elementor-widget elementor-widget-divider" data-id="8d795a6" data-element_type="widget" data-widget_type="divider.default"> <div class="elementor-widget-container"> <div class="elementor-divider"> <span class="elementor-divider-separator"> </span> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-a741c4d elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="a741c4d" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c78aa20" data-id="c78aa20" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-119b6db elementor-widget elementor-widget-heading" data-id="119b6db" data-element_type="widget" data-widget_type="heading.default"> <div class="elementor-widget-container"> <h3 class="elementor-heading-title elementor-size-default">Robotique chirurgicale </h3> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-2ca47958 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="2ca47958" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-1a205f52" data-id="1a205f52" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-724c1e96 elementor-widget elementor-widget-testimonial" data-id="724c1e96" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="512" height="512" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/12/philippe_poignet_lirmm-2.jpg" class="attachment-full size-full wp-image-5811" alt="" srcset="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/12/philippe_poignet_lirmm-2.jpg 512w, https://www.lirmm.fr/wp-content/uploads/sites/3/2020/12/philippe_poignet_lirmm-2-300x300.jpg 300w, https://www.lirmm.fr/wp-content/uploads/sites/3/2020/12/philippe_poignet_lirmm-2-150x150.jpg 150w" sizes="(max-width: 512px) 100vw, 512px" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Philippe POIGNET</div> <div class="elementor-testimonial-job">Responsable</div> </div> </div> </div> </div> </div> </div> </div> </div> <div class="elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-58890e4a" data-id="58890e4a" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-759b3331 elementor-widget elementor-widget-testimonial" data-id="759b3331" data-element_type="widget" data-widget_type="testimonial.default"> <div class="elementor-widget-container"> <div class="elementor-testimonial-wrapper"> <div class="elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside"> <div class="elementor-testimonial-meta-inner"> <div class="elementor-testimonial-image"> <img loading="lazy" decoding="async" width="110" height="150" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2020/12/lirmm8nABIL8zEMITI-1.jpg" class="attachment-full size-full wp-image-5812" alt="" /> </div> <div class="elementor-testimonial-details"> <div class="elementor-testimonial-name">Nabil ZEMITI</div> <div class="elementor-testimonial-job">Adjoint</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-d9ee5e7 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="d9ee5e7" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-dbe2400" data-id="dbe2400" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-749973f elementor-widget elementor-widget-image" data-id="749973f" data-element_type="widget" data-widget_type="image.default"> <div class="elementor-widget-container"> <img loading="lazy" decoding="async" width="1536" height="149" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-1536x149.jpg" class="attachment-1536x1536 size-1536x1536 wp-image-14312" alt="" srcset="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-1536x149.jpg 1536w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-300x29.jpg 300w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-1024x99.jpg 1024w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-768x74.jpg 768w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeMedicale_LIRMM-EN-1-2048x198.jpg 2048w" sizes="(max-width: 1536px) 100vw, 1536px" /> </div> </div> <div class="elementor-element elementor-element-600eba7 elementor-widget elementor-widget-toggle" data-id="600eba7" data-element_type="widget" data-widget_type="toggle.default"> <div class="elementor-widget-container"> <div class="elementor-toggle"> <div class="elementor-toggle-item"> <div id="elementor-tab-title-1001" class="elementor-tab-title" data-tab="1" role="button" aria-controls="elementor-tab-content-1001" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Objectifs</a> </div> <div id="elementor-tab-content-1001" class="elementor-tab-content elementor-clearfix" data-tab="1" role="region" aria-labelledby="elementor-tab-title-1001"><p>Objectifs au niveau régional :</p><ul><li>Développer les activités de robotique médicale en Région Languedoc-Roussillon en concevant et en réalisant des systèmes qui intègrent de nouvelles technologies pour l’assistance aux gestes chirurgicaux.</li><li>Renforcer le partenariat des chercheurs en robotique médicale du LIRMM avec les praticiens hospitaliers.</li><li>Favoriser les collaborations avec les acteurs économiques du domaine et le transfert de savoir-faire</li></ul><p>Objectifs au niveau national :</p><ul><li>Augmenter la visibilité des actions menées au sein de la plate-forme.</li><li>Permettre aux partenaires médicaux du LIRMM en région (CHU Montpellier, CHU Nîmes, …) et hors région (Hôpital La Pitié Paris, CHU Grenoble, …) d’avoir accès à un plateau technique ouvert, modulaire et évolutif pour s’initier aux nouvelles technologies, se former et spécifier de nouveaux besoins qui permettront d’améliorer les systèmes existants au bénéfice tout d’abord des patients et ensuite des personnels médicaux impliqués.</li><li>Donner accès à l’utilisation d’une plateforme technologique co-financée par le CNRS dont le LIRMM est coordinateur</li></ul><p>Lien vers le site de la plateforme <strong>robChir</strong> : <a class="moz-txt-link-freetext" href="https://www.lirmm.fr/robmed-plateforme/index.html">https://www.lirmm.fr/robmed-plateforme/index.html</a></p><p>Mots clé : Consoles, Téléchirurgie, simulateurs, interfaces haptiques</p></div> </div> <div class="elementor-toggle-item"> <div id="elementor-tab-title-1002" class="elementor-tab-title" data-tab="2" role="button" aria-controls="elementor-tab-content-1002" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Equipements</a> </div> <div id="elementor-tab-content-1002" class="elementor-tab-content elementor-clearfix" data-tab="2" role="region" aria-labelledby="elementor-tab-title-1002"><table class="TableauFondBlanc" border="0" width="100%" cellspacing="0" cellpadding="2"> <tbody> <tr> <td valign="top"> <ul> <li>Robot de télé-chirurgie Raven II Marque : Applied Dexterity</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Raven2" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/raven2/191443-1-fre-FR/raven2_large.png" alt="Raven2" width="300" height="222" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Console de téléopération à retour d’effort avec retour visuel 3D Modèle : Sigma7 (x2) Marque : Force Dimension</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="sigma.7-console--" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/sigma.7-console4/191605-1-fre-FR/sigma.7-console_large.png" alt="sigma.7-console--" width="300" height="212" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Console d’entrainement pour la chirurgie Modèle : Actaeon Marque : BBZ Projet : R2H</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="BBZ" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/bbz/191614-1-fre-FR/bbz_large.png" alt="BBZ" width="300" height="225" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Simulateur d’entrainement pour la chirurgie robotisée Modèle : Xron Marque : BBZ Projet : R2H</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Xron" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/xron2/191620-1-fre-FR/xron_large.png" alt="Xron" width="300" height="141" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Interfaces haptiques à retour d’effort (x2) Modèle : Omega7 Marque : Force Dimension</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Omega" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/omega/191647-1-fre-FR/omega_large.png" alt="Omega" width="300" height="191" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Plateforme de vision endoscopique 3D Modèle : Epic 3DHD Marque : Wolf Projet : R2H</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Endocam_Wolf" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/endocam_wolf/191650-1-fre-FR/endocam_wolf_large.png" alt="Endocam_Wolf" width="300" height="156" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Plateforme de robot à tubes concentriques Projet :</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="CTR-" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/ctr/258125-1-fre-FR/ctr_large.png" alt="CTR-" width="300" height="100" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Casque de vision 3D Marque : Sony Projet : R2H</li> </ul> </td> <td class=" text-right" valign="top"> <div class=""><img loading="lazy" decoding="async" title="Casque_Sony" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/casque_sony/191653-1-fre-FR/casque_sony_large.png" alt="Casque_Sony" width="300" height="191" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Casque immersive de réalité virtuelle 3D Marque : HTC Vive Projet : R2H</li> </ul> </td> <td class=" text-right" valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Casque-3D-HTC" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/casque-3d-htc/191656-1-fre-FR/casque-3d-htc_large.png" alt="Casque-3D-HTC" width="300" height="225" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Plateforme d’Urétéroscopie flexible Marque : Olympus</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="urétéroscope" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/ureteroscope/191641-1-fre-FR/ureteroscope_large.jpg" alt="urétéroscope" width="277" height="182" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Système de mesure optique Modèle : fusionTrack 250 Marque : Atracsys</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="fusionTracker250" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/fusiontracker250/191659-1-fre-FR/fusiontracker250_large.png" alt="fusionTracker250" width="300" height="160" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Système de mesure optique Modèle : easyTrack 500 Marque : Atracsys</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Easytrack500" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/easytrack500/191665-1-fre-FR/easytrack500_large.jpg" alt="Easytrack500" width="259" height="194" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Robot de manipulation (x2) Modèle : Viper S650 Marque : Adept</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="viper" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/viper/191632-1-fre-FR/viper_large.png" alt="viper" width="209" height="300" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Instruments robotisés pour la chirurgie Laparoscopique Modèle : Jaimy (x2) Marque : Endocontrol</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Jaimy-porte-aiguille2" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/jaimy-porte-aiguille22/191611-1-fre-FR/jaimy-porte-aiguille2_large.png" alt="Jaimy-porte-aiguille2" width="201" height="300" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Echographe avec système SonixGPS Marque : Ultrasonix</li> </ul> </td> <td class=" text-right" valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="BG0526-B_SonixTouch" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/bg0526-b_sonixtouch/191638-1-fre-FR/bg0526-b_sonixtouch_large.png" alt="BG0526-B_SonixTouch" width="184" height="300" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Capteurs de force (x3) Modèle : Nano 43 Marque : ATI Financement : FEDER</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Nano43-" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/nano433/191629-1-fre-FR/nano43_medium.png" alt="Nano43-" width="200" height="188" /></div></td> </tr> <tr class="bgdark"> <td valign="top"> <ul> <li>Camera 2D (x3) Modèle : asA640-120uc Marque : Basler Financement : PEPS</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="aca640-120uc-1_1" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/aca640-120uc-1_1/191635-1-fre-FR/aca640-120uc-1_1_medium.jpg" alt="aca640-120uc-1_1" width="200" height="200" /></div></td> </tr> <tr class="bglight"> <td valign="top"> <ul> <li>Accéléromètre sans fil Marque : MicroStrain</li> </ul> </td> <td valign="top"> <div class="object-right"><img loading="lazy" decoding="async" title="Accelerometre-MicroStrain" src="http://www.lirmm.fr/var/lirmm/storage/images/media/images/accelerometre-microstrain/191662-1-fre-FR/accelerometre-microstrain_medium.png" alt="Accelerometre-MicroStrain" width="200" height="163" /></div></td> </tr> </tbody> </table></div> </div> </div> </div> </div> <div class="elementor-element elementor-element-69b75c8 elementor-widget-divider--view-line elementor-widget elementor-widget-divider" data-id="69b75c8" data-element_type="widget" data-widget_type="divider.default"> <div class="elementor-widget-container"> <div class="elementor-divider"> <span class="elementor-divider-separator"> </span> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-4a584e2 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="4a584e2" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-a53fd8d" data-id="a53fd8d" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-28074b5 elementor-widget elementor-widget-heading" data-id="28074b5" data-element_type="widget" data-widget_type="heading.default"> <div class="elementor-widget-container"> <h3 class="elementor-heading-title elementor-size-default">Robotique sous-marine </h3> </div> </div> <div class="elementor-element elementor-element-f2c7156 elementor-widget elementor-widget-image" data-id="f2c7156" data-element_type="widget" data-widget_type="image.default"> <div class="elementor-widget-container"> <img loading="lazy" decoding="async" width="1536" height="149" src="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-1536x149.jpg" class="attachment-1536x1536 size-1536x1536 wp-image-14313" alt="" srcset="https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-1536x149.jpg 1536w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-300x29.jpg 300w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-1024x99.jpg 1024w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-768x74.jpg 768w, https://www.lirmm.fr/wp-content/uploads/sites/3/2021/05/PlateformeSousmarine_LIRMM-EN-2048x198.jpg 2048w" sizes="(max-width: 1536px) 100vw, 1536px" /> </div> </div> <div class="elementor-element elementor-element-54c68c3 elementor-widget elementor-widget-toggle" data-id="54c68c3" data-element_type="widget" data-widget_type="toggle.default"> <div class="elementor-widget-container"> <div class="elementor-toggle"> <div class="elementor-toggle-item"> <div id="elementor-tab-title-8881" class="elementor-tab-title" data-tab="1" role="button" aria-controls="elementor-tab-content-8881" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Objectifs</a> </div> <div id="elementor-tab-content-8881" class="elementor-tab-content elementor-clearfix" data-tab="1" role="region" aria-labelledby="elementor-tab-title-8881"><p>L’objectif de cette plateforme est de concevoir et de fabriquer des robots sous-marins pour explorer l’environnement, en particulier les fonds marins et les réseaux karstiques.</p> <p>Mots clé : véhicules sous-marins téléopérés (ROV), véhicules autonomes sous-marins (AUV), capteurs, lois de commande.<br></p></div> </div> <div class="elementor-toggle-item"> <div id="elementor-tab-title-8882" class="elementor-tab-title" data-tab="2" role="button" aria-controls="elementor-tab-content-8882" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Equipements</a> </div> <div id="elementor-tab-content-8882" class="elementor-tab-content elementor-clearfix" data-tab="2" role="region" aria-labelledby="elementor-tab-title-8882"><p><span style="text-decoration: underline"><strong> Bassin d’expérimentation</strong></span></p><p>Un bassin d’expérimentation installé dans une halle de robotique est destiné aux expériences en robotique sous-marine.</p><p><span style="text-decoration: underline"><strong>Robots</strong></span></p><p>Plusieurs robots sous-marins ont été réalisés:</p><ul><li><a href="https://www.youtube.com/watch?v=lcN1isXDhx4" target="_blank" rel="noopener">ROV LEONARD</a>, un robot pour l’archéologie sous-marine, utilisé quotidiennement pour le test de lois de commandes,</li><li><strong>ROV BENDER</strong>, un nouveau robot pour la biologie, l’archéologie et les applications industrielles.</li><li><strong>ROV ARTHUR</strong>, pour l’archéologie sous-marine grands fonds (jusqu’à 2500m). Ce robot équipe le navire <i>Alfred Merlin</i> du DRASSM,</li><li><a href="https://www.youtube.com/watch?v=Eg5PZaggLiQ&t=102s" target="_blank" rel="noopener">ULYSSE </a>pour l’exploration de karsts (gouffre de Gourneyras) et pour des missions de comptage de poissons.</li><li style="list-style-type: none"> </li></ul><p><em>Photos des robots sous-marins : DRASMM/Images Explorations – F. Osada / T. Seguin & Frank Vasseur<br /></em></p></div> </div> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-0874768 elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="0874768" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-f7fa93b" data-id="f7fa93b" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-8daf1c2 elementor-widget-divider--view-line elementor-widget elementor-widget-divider" data-id="8daf1c2" data-element_type="widget" data-widget_type="divider.default"> <div class="elementor-widget-container"> <div class="elementor-divider"> <span class="elementor-divider-separator"> </span> </div> </div> </div> </div> </div> </div> </section> <section class="elementor-section elementor-top-section elementor-element elementor-element-83ebc4f elementor-section-boxed elementor-section-height-default elementor-section-height-default" data-id="83ebc4f" data-element_type="section"> <div class="elementor-container elementor-column-gap-default"> <div class="elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c1169b5" data-id="c1169b5" data-element_type="column"> <div class="elementor-widget-wrap elementor-element-populated"> <div class="elementor-element elementor-element-2163edb elementor-widget elementor-widget-toggle" data-id="2163edb" data-element_type="widget" data-widget_type="toggle.default"> <div class="elementor-widget-container"> <div class="elementor-toggle"> <div class="elementor-toggle-item"> <div id="elementor-tab-title-3501" class="elementor-tab-title" data-tab="1" role="button" aria-controls="elementor-tab-content-3501" aria-expanded="false"> <span class="elementor-toggle-icon elementor-toggle-icon-left" aria-hidden="true"> <span class="elementor-toggle-icon-closed"><i class="fas fa-caret-right"></i></span> <span class="elementor-toggle-icon-opened"><i class="elementor-toggle-icon-opened fas fa-caret-up"></i></span> </span> <a class="elementor-toggle-title" tabindex="0">Logiciels communs aux plateformes de robotique</a> </div> <div id="elementor-tab-content-3501" class="elementor-tab-content elementor-clearfix" data-tab="1" role="region" aria-labelledby="elementor-tab-title-3501"><p style="text-align: justify">Des « frameworks » sont développés pour faciliter les développements logiciels:</p><ul><li style="list-style-type: none"><ul><li style="text-align: justify"><a href="http://pid.lirmm.net/pid-framework/" target="_blank" rel="noopener"><strong>PID :</strong></a> PID définit une méthodologie de développement basée sur les API CMake : il fournit de nombreux projets généraux tiers ou natifs pour les développeurs et des projets spécifiques comme pid-rpath et pid-log qui implémentent les mécanismes d’exécution de PID.</li><li style="text-align: justify"><a href="http://rob-miscellaneous.lirmm.net/rpc-framework/" target="_blank" rel="noopener"><strong>RPC :</strong></a> Robot Packages Collection (RPC) est le lieu commun où vous pouvez trouver de nombreux paquets utiles pour le développement d’applications robotiques, allant des pilotes pour robots et capteurs, aux algorithmes couramment utilisés, aux simulateurs, etc.</li><li style="text-align: justify"><a href="http://ethercatcpp.lirmm.net/ethercatcpp-framework/" target="_blank" rel="noopener"><strong>ETHERCATCPP :</strong></a> Ethercatcpp permet de définir et de réutiliser des pilotes de robots et de dispositifs basés sur la technologie <a href="https://www.ethercat.org/default.htm" target="_blank" rel="noopener">ethercat</a>.</li><li style="text-align: justify"><a href="http://hardio.lirmm.net/hardio/" target="_blank" rel="noopener"><strong>HARDIO</strong></a> : hardio permet de définir et de réutiliser des pilotes pour les systèmes embarqués tels que le Pi framboise, le Beagleboard, etc. Ceci est particulièrement utile pour les applications de robotique mobile.</li><li style="text-align: justify"><a href="http://rkcl.lirmm.net/rkcl-framework/" target="_blank" rel="noopener"><strong>RKCL</strong></a>. La RKCL fournit un ensemble d’outils pour la mise en œuvre du contrôle cinématique multitâche et corps entier pour les robots ainsi que des extensions pour gérer l’interface avec le matériel ou les simulateurs (robot et capteurs).</li></ul></li></ul><p style="text-align: justify">Des logiciels ont également été développés dont certains ont fait l’objet d’un dépôt APP:</p><ul><li style="list-style-type: none"><ul><li>ANGIOSPAN (EXPLORE), 2017 (IDDN.FR.001.150022.000.S.C.2017.000.31230). Le logiciel AngioSpan permet d’analyser sur enregistrement des séquences d’images échographiques vasculaires.</li><li>OpenPhri (IDH) est un logiciel en C++/Python conçu pour faciliter la programmation de robots pour l’interaction physique homme-robot (pHRI), 2019.</li><li>MC-RTC (IDH) est une interface pour les systèmes robotiques simulés et réels adaptés au contrôle en temps réel, 2019.</li></ul></li></ul></div> </div> </div> </div> </div> </div> </div> </div> </section> </div> </main> </div> </div> </div> <footer class="site-footer" id="site-footer"> <div class="footer-main footer--row layout-full-contained" id="cb-row--footer-main" data-row-id="main" data-show-on="desktop"> <div class="footer--row-inner footer-main-inner dark-mode"> <div class="customify-container"> <div class="customify-grid customify-grid-top"><div class="customify-col-3_md-3_sm-6_xs-12 builder-item builder-first--footer-3" data-push-left="off-3 _sm-0"><div class="item--inner builder-item--footer-3" data-section="sidebar-widgets-footer-3" data-item-id="footer-3" ><div class="widget-area"><section id="text-11" class="widget widget_text"> <div class="textwidget"><p><a href="/wp-admin" target="_blank" rel="noopener">Accès rédacteur </a><br /> <a href="https://intranet.lirmm.fr" target="_blank" rel="noopener">Intranet</a><br /> <a href=" https://grr.ies.umontpellier.fr/grr/" target="_blank" rel="noopener">Réservation de salle</a></p> </div> </section></div></div></div><div class="customify-col-6_md-6_sm-6_xs-12 builder-item builder-first--footer-4" data-push-left="_sm-0"><div class="item--inner builder-item--footer-4" data-section="sidebar-widgets-footer-4" data-item-id="footer-4" ><div class="widget-area"><section id="text-12" class="widget widget_text"> <div class="textwidget"><p><a href="/informations-legales/">Informations légales</a></p> <p><a href="https://webmail.lirmm.fr/" target="_blank">Webmail</a></p> </div> </section></div></div></div></div> </div> </div> </div> <div class="footer-bottom footer--row layout-full-contained" id="cb-row--footer-bottom" data-row-id="bottom" data-show-on="desktop"> <div class="footer--row-inner footer-bottom-inner dark-mode"> <div class="customify-container"> <div class="customify-grid customify-grid-top"><div class="customify-col-6_md-6_sm-6_xs-12 builder-item builder-first--footer_copyright" data-push-left="_sm-0"><div class="item--inner builder-item--footer_copyright" data-section="footer_copyright" data-item-id="footer_copyright" ><div class="builder-footer-copyright-item footer-copyright"><p>Copyright © 2025 LIRMM</p> </div></div></div></div> </div> </div> </div> </footer></div> <div id="scrolltop" class="scrolltop right"><i class="fa fa-angle-double-up"></i></div> <div id="customify_cookie_notice" class="customify_cookie_notice cn-position-bottom"> <span class="notice-content">We use cookies to ensure that we give you the best experience on our website. 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