Sylvain Finet

First employee at Wandercraft, I strongly contributed to the growth and success of Wandercraft: Control: - Introducing and developing, both in simulation and experimentally, the walking control algorithms used at Wandercraft to control its exoskeletons. - Introducing and developing direction control on Wandercraft exoskeletons (turning motions, slaloms...). - Introducing and developing torque control algorithms. Software: - Coding a walking gait generation sofware and a simulator in MATLAB for a biped robot. - Coding embedded walking controllers into C++ for biped robots. - Coding an interface between the C++ embedded code of the exoskeleton and the Gazebo simulator using ROS. - Coding scripts to analyze walking experimental data and extract features of interests into Python. Hardware: - Working on exoskeleton cabling improvement and emc issues. Regulation: - Working on the compliance of the walking gait generation software with the international standard IEC 62304. Management / Human Ressources: - Managing daily internal tests on the exo to improve its fiability. - Organizing job interviews for Wandercraft. - Training the new incomers to Wandercraft walking control algorithms. - Managing interns. - Establishing partnerships with prestigious academic institutions: University of Michigan (Jessy W. Grizzle team) , CalTech (Aaron Ames team) , Mines ParisTech (Nicolas Petit team). Sales : - Organization and participation to some demonstrations of the Wandercraft exoskeleton to media (BBC, TF1) and to potential clients.

Ph.d on robot bipedal locomotion and its applications to the control of lower limb exoskeletons with both theorical and experimental components, supervised by Laurent PRALY (CAS, Mines ParisTech): I. Design and successful experimental implementation of a Hybrid Zero Dynamics controller on a planar 5 link bipedal robot. II. Design of new motion planning algorithms and nonlinear controllers for biped robots: - Study and control of the kinetic energy dissipated when the leg hits the ground. - Introduction of Time Scaling for the control of biped robots. Robot Modeling - Design of Controllers - PD tuning - Robot debugging and testing - Mechatronics Matlab - C++