Institut des Systèmes Intelligents
et de Robotique


Sorbonne Universite



Tremplin CARNOT Interfaces



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Short bio

LU Tianming
Title : Chercheur Contractuel
No longer in the unit
2012.10 - 2016.03 
- Subject: Design and Realization of a Desktop Cobotic Platform for Micromanipulation. 
- CIFRE: French Industrial Fellowship, in collaboration with Percipio Robotics
- Defended on March 10, 2016. Jury: 
  • Stéphane Viollet - CNRS Research Director - Reviewer
  • Philippe Fraisse - Prof. at LIRMM / Université Montpellier 2 - Reviewer
  • Michaël Gauthier - CNRS Research Director - Examinator
  • David Hériban - CEO of Percipio Robotics - Co-advisor
  • Vincent Hayward - Prof. at UPMC - Examinator
  • Stéphane Régnier - Prof. at UPMC - Supervisor


  • Tianming Lu, Cécile Pacoret, David Hériban, Abdenbi Mohand-Ousaid, Stéphane Régnier and Vincent Hayward, "KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion", IEEE Transactions on Haptics, accepted on Dec. 18 2016
  • M. Boudaoud, S. Liang, Tianming Lu, R. Oubellil and S. Régnier, "Voltage/frequency rate dependent modeling for nano-robotic systems based on piezoelectric stick-slip actuators," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016, pp. 5297-5303.
  • Tianming Lu, M. Boudaoud, D. Hériban and S. Régnier, "Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 6020-6025. 
  • Tianming Lu*, Abdenbi Mohand-Ousaid*, Cécile Pacoret, Stéphane Régnier, and Vincent Hayward. "Dual Stage Options for Interface Designs Suitable for Haptic Interaction at the Micro-Nano Scales." In Experimental Robotics, pp. 105-114. Springer International Publishing, 2016. (*: co-first-author)
  • T. Lu, M. Boudaoud, D. Heriban, S. Regnier, "A New Voltage/Frequency Rate Dependent Modeling for Nano-Robotic System" (IEEE Transactions on Mechatronics), major revision.


Professional Experience

2010.03 - 2012.09

Robotics Software Engineer (embedded team, R&D department) at Adept Technology France

Contributed to robotics algorithms development, real-time software implementation, and stabilization for the embedded controller Adept SmartController EX.

  • Designed and implemented algorithms for the fastest (2010) industrial robot: Adept Quattro Parallel Robot. The new created numerical forward kinematic algorithm is proved to be 8-10 times more efficient than the previous version.
  • Developed and implemented algorithms for trajectory planning, (differential) kinematics, obstacle avoidance, for parallel, SCARA, and PUMA robots.
  • Developed simulation tools in Matlab for algorithm validation.
  • Developed continuous integration solution using CruiseControl.NET for unit tests.
  • Collaborated with US R&D team via daily phone meeting, Agile development.


2009 - 2010:

MS in Advanced and Robotic Systems, rank 1st, (double master degree), at Université Pierre et Marie Curie, Paris, France


2007 - 2010: 

MS (diplôme d'ingénieur) in Autonomous Robotics, at ENSTA ParisTech (Grande Ecole), Paris, France


2003 - 2007: 

Bachelor's degree in Mechatronics from Pilot Class (in collaboration with University of Michigan), rank 8/81, at Shanghai Jiaotong University, Shanghai, China