Nassime Blin

Address: LAAS-CNRS
7, avenue du Colonel Roche
31077 Toulouse Cedex 4
Assistant: +33 5 61 33 64 69 (Delphine Fourcade)

Nassime BLIN is a PhD student of GEPETTO Team and DIDS-LGP-ENIT since September 2014 under the supervision of Michel Taïx.
He is attached to INPT, Toulouse, France.

Short Bio

Master of Science in Computer Science at Université Paris XI 2009-2011. Master of Science in Circuit Architecture at Université Paris VI 2013-2014.
Internship in the Gepetto team on motion planning 2014.

Research Interests

My PhD thesis is about "Interactive Motion Planning with Contact". I focus on designing and implementing new algorithms in the motion planner software of the team HPP (Humanoid Path Planner).

I contributed in Interactive Motion Planning where a human operator moving an object in Virtual Reality helps the motion planning software to solve a problem. The computer may take a long time to find paths in cluttered environments but with the help of a human, a solution can be found much more quickly.

My second contribution is a set of algorithms capable of planning at the surface of obstacles. Instead of avoiding them like a usual planner would, I proposed a solution capable of planning right at the surface of objects. This helps planners solve some problems more rapidly by sliding against surfaces. It can also addresses the difficult problem of insertion when object absolutely need to touch each other.

My algorithms are implemented using either a 6D mouse or a haptic arm. I use Virtual Reality techniques : 3D screen, motion capture and control of the robotic haptic arm to feel obstacles when in collision.