I’m Mirado, a robotics researcher and engineer. I connect mechanics, modeling and control to understand how robots move — and build systems that put those ideas to work.
Teaching & research at ENSTA, Brest
PhD candidate · Lab-STICC
Understanding motion, extracting information, and taking a model all the way to a prototype.
Finding the motion in the mechanics.
How can a robot’s own dynamics organize a repeatable gait? My doctoral research connects natural oscillations, energy exchange and resonant control.
The aim is to discover motions the mechanics can sustain, then supply energy at the right time to maintain them when losses are present.
Explore the thesis
Making sense of the world in 3D.
Visual SLAM and 3D reconstruction for hydraulic-pipe inspection at EDF.
I combined RealSense and inertial measurements with ROS and RTAB-Map, then used the reconstructed geometry for curvature-based pipe classification.
Perception · Estimation · Robot integration
Selected engineering projects
I designed the four-bar architecture and Lagrangian model, then integrated the structure, actuation, sensing and real-time control of a 1.2 m wheeled biped.
Read the project report
As mechatronic lead, I designed a carbon/epoxy vehicle integrating Pixhawk, Raspberry Pi and MAVLink. The prototype was tested in flight, underwater and through air–water transitions.
Buckling-spring characterization, an Arduino/Simulink test bench and a Simscape Multibody model to investigate variable assistance.
Beyond my doctoral work, I explore how physical and geometric structure can simplify what a robot needs to model, sense or control.
Reduced modeling of a flexible beam under an environmental constraint, and numerical reproduction of a conservative three-link walking gait. These studies explore how motion emerges from mechanics.
Can an environment offer its own coordinates? One prototype divides a cave-like geometry into connected cells; a separate circular SLAM study estimates position and a map from odometry and a single scalar signal.
A compact three-electrode sensor in water motivates a simple question: how much can a small measurement reveal? I study a two-dimensional electric-field model and precomputed sensitivities for fast simulation.
Earlier publications are indexed under Mirado Rajaomarosata.
Mirado Mortel, Luc Jaulin, Lionel Lapierre, Simon Rohou
Mirado Rajaomarosata, Luc Jaulin, Lionel Lapierre, Simon Rohou
Mirado Rajaomarosata, Luc Jaulin, Lionel Lapierre, Simon Rohou
I hold a teaching and research position in robotics and computer science at ENSTA, Brest, while completing my PhD within Lab-STICC.
My doctoral work is advised by Luc Jaulin, Lionel Lapierre and Simon Rohou. It moves between mathematical models, numerical methods and physical mechanisms.
I trained at ENS Rennes and ENSTA, where I ranked first in the autonomous robotics engineering specialization. I also hold an MSc in Dynamical Systems and Signals from the University of Angers and the French agrégation teaching qualification.
I teach programming and computer vision, with experience in C, C++ and 3D vision.