We have two main experimental facilities: an experimental room with the articulated robots (hexapods, humanoid, redundant arms), and a sensorized “smart” apartment.


Experimental lab room

Our main experimental room contains a 5.5 x 6 m experimental ‘arena’ made with aluminium trusses. It is equipped with: a 6D motion capture system (Optitrack), with 8 gibagit cameras (Prime 13); 4 high-power, studio lights; 3 mobile 19’’ racks (on wheels), which host the power supplies and the computers to control the robots; The …


The hexapods (6-legged robots) are mainly used in the Resibots project (see Projects). The last version of our 6-legged robot, which was featured on the cover of Nature (see Publications). This 6-legged robot is made with 18 MX-28 dynamixel actuators, a Xsens Mti-30 IMU, and a Asus x-tion (RGB-D sensor / Kinect). The silver spheres …

Kuka Youbot

The YouBot is an omnidirectionnal robot manufactured by Kuka. We are modifying it to use the Versaball gripper (Empire Robotics).

A sensorized “smart” apartment

The Inria Nancy Research Center has been supporting since 2010 the design and the construction of an innovative platform for favouring research in assistance for elderly people at home. This platform has been mainly funded by the CPER MISN of the Lorraine region, with the project Info-Situ (2010-2013). It consists of a standard apartment type …


iCub is a child-like humanoid robot with 53 actuated degrees of freedom. It is equipped with two cameras, several force/torque sensors, inertial sensors and a sensitive skin with distributed tactile elements. Our version has brand new legs that make it possible balancing and walking. In the CODYCO project, we use it to study whole-body control, physical …


InMoov is a 3d-printed open-source robot. Most of its pieces were donated by J.-P. Blanchard (Credit Agricole) to our lab. It is used mainly for education.  

Kinova Jaco

Jaco is a lightweight 6-DOF robotic arm, produced by Kinova robotics. It has 3 fingers and a 1,5 kg payload. Its base can be mounted on an electric wheelchair or on a desk. We are using it for motion optimization and for human-robot interaction experiments. Highlights: Marichal*, S.; Malaise*, A.; Modugno, V.; Dermy, O.; Charpillet, …


Pepper is a humanoid mobile robot, produced by Softbank Robotics (formerly Aldebaran). It is financed by the CPER IT2MP and shared with the consortium of the SCIARAT project.


We are using several Turtlebots (version 1 & 2) as mobile robots navigating in the sensorized apartment. They are equipped with LIDAR, Kinect and NUC units for studying navigation and SLAM.