Research grants

 External funding (last 10 years):

  • Funding from the Lorraine region 2014 for the project « Plateforme bio-robotique pour l’étude de la mobilité chez l’insecte ».
  • Pherotaxis (leader of WP5 Biorobotics) 2011-2014: State grant (program “Investissements d’avenir”, grant ANR-10-BINF-05).
  • Inria/INRA (PI) 2010-2011: Joint research action Olfactory coding in the pheromonal pathway of insects.
  • Olfactory rythms 2010: National project from the neuroinformatic program of the CNRS.
  • Neurochem (leader of WP3 processing of odour representations) 2008-2010: FP7 European project Neurochem (STREP ICT FP7) Biologically inspired computation for chemical sensing.
  • Pherosys (leader of WP3 Several glomeruli: network properties, oscillation, synchronization and inhibition) 2008-2010: Joint ANR-BBSRC France-Britain project Pherosys: olfactory coding in the insect pheromone pathway: models and experiments.
  • Olfactory coding (PI) 2007-2008: National project from the CNRS neuroinformatic program.
  • BioSens (PI) 2006-2008: Biomimetic Sensing. Associated team BioSens between Inria and the University of Science and Technology of Hong Kong.
  • RDNR 2007-2008: non-smooth dynamical networks.Cooperative research action from Inria (RDNR).
  • GOSPEL (leader of the Biopatana: biomimetic pattern analysis) 2005-2007: General Olfaction and Sensing Projects on a European Level.FP6 European network of excellence GOSPEL.
  • International partnership Hubert Curien (PHC) Procore with UST of Hong Kong 2006-2007:  Temperature-modulated tin oxide sensors and Bio-inspired processing for electronic nose applications. 
  • International integrated action program (PAI) Procore with UST of Hong Kong 2004-2005: Electronic nose microsystem based on an array of gas sensors and biologically inspired pattern recognition. 
  • Funding from the Lorraine region in 2005 to pay for the internship of student G. Bin.  
  • SawCapt 2003-2005: National project ACI “Nouvelles Méthodologies Analytiques et Capteurs”.
  • Neuronal dynamics (Co-PI) 2003-2004: National project ACI ”Cognition & Traitement de l'Information”.
  • NOSE (PI) 2002-2004: Cooperative research action from Inria olfactory perception and autonomous robotics.


For behavioral experiments, we use koala and khepera robots from k-team and various sensors. In the past, we tested robot chemotaxis (Martinez et al., 2006) and robot infotaxis (Martin-Moraud and Martinez, 2010) with gas and heat sensors, respectively. Currently, we use the antennae of tethered moths mounted on a khepera robot as pheromone sensors (Martinez et al., 2013; Martinez et al., 2014). See the figure below and the video section for more details.


Figure 1. Biohybrid robotics. The robotic platform is composed of a tethered moth A. ipsilon mounted on a Khepera III robot. The electroantennogram (EAG) acquisition board consisted of several stages: voltage regulation providing  ±5V from a +12V battery, differential EAG input, instrumentation pre-amplification (INA121), filtering and amplification (0.1-500 Hz frequency band, 50 Hz notch filter, ), signal conditioning (0-5 V) and analog-to-digital conversion (8 bits, 1 kHz sampling frequency). The EAG signal is transmitted wireless via WIFI to a remote computer and used as input to a neuron model. The neuron simulation is performed in real-time with SIRENE, a C-based neural simulator developed in our team. A surge command is transmitted to the cyborg after each pheromone detection.


Relevant publications:

Martinez D., Arhidi L., Demondion E., Masson J.-B. and Lucas P. (2014) Using insect electroantennogram sensors on autonomous robots for olfactory searches. J. Vis. Exp (JoVE), (90), e51704, doi:10.3791/51704: VIDEO

Martinez D., Chaffiol A., Voges N., Gu Y., Anton S., Rospars J.-P. and Lucas P. (2013) Multiphasic On/Off pheromone signaling in moths as neural correlates of a search strategy. PLoS ONE, 8(4): e61220. doi:10.1371/journal.pone.0061220: PDF with Supplementary Information

Martin-Moraud E. and Martinez D. (2010) Effectiveness and robustness of robot infotaxis for searching in dilute conditions. Frontiers in neurorobotics.

Martinez D., Rochel O. and Hugues E. (2006) A biomimetic robot for tracking specific odors in turbulent plumes. Autonomous Robot, Special Issue on Mobile Robot Olfaction, 20(3), pp. 185-195.

Videos and demos

Lab-on-cables filmed with external camera (superimposed with long-exposure photo of robot movement): VIDEO, relevant paper

Lab-on-cables with onboard camera (real insect in white, 3D model in pink): VIDEO, relevant paper


Protocol for using insect antennae as sensors on olfactory robots: VIDEO, relevant paper

Olfactory robot vs moth Bombyx mori: VIDEO, relevant paper

Phototaxis using proportional navigation:  VIDEO, relevant paper


Lab-on-cables filmed with external camera (superimposed with long-exposure photo of robot movement)


Neuronal recording in freely moving animals with wireless data transmission


Relevant publications:

Martinez D., Clement M., Messaoudi B., Gervasoni D., Litaudon P., Buonviso N. (2017) Adaptive quantization of local field potentials in freely moving animals: an open-source neural recording device. Journal of Neural Engineering.