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246 documents

Articles dans une revue124 documents

  • Yu Zhou, Andrey Polyakov, Gang Zheng. Robust Finite-time Stabilization of Linear Systems with Limited State Quantization. Automatica, 2025, 171, pp.111967. ⟨10.1016/j.automatica.2024.111967⟩. ⟨hal-04757031⟩
  • Yu Zhou, Andrey Polyakov, Gang Zheng. Finite/fixed-time Stabilization of Linear Systems with State Quantization. IEEE Transactions on Automatic Control, In press. ⟨hal-04756997⟩
  • Yu Zhou, Héctor Ríos, Manuel Mera, Andrey Polyakov, Gang Zheng, et al.. Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots. IEEE Transactions on Control Systems Technology, 2024, 32 (1), pp.274-281. ⟨10.1109/TCST.2023.3300273⟩. ⟨hal-04390587⟩
  • Félix Vanneste, Claire Martin, Olivier Goury, Hadrien Courtecuisse, Erik Pernod, et al.. Towards realistic needle insertion training simulator using partitioned model order reduction. Medical image computing and computer-assisted intervention : MICCAI .. International Conference on Medical Image Computing and Computer-Assisted Intervention, In press. ⟨hal-04717755⟩
  • Yu Zhou, Andrey Polyakov, Gang Zheng. Generalized homogeneous rigid-body attitude control. Automatica, 2024, 163, pp.111548. ⟨10.1016/j.automatica.2024.111548⟩. ⟨hal-04615944⟩
  • Min Li, Andrey Polyakov, Gang Zheng. On Generalized Homogeneous Leader-following Consensus Control for Multi-agent Systems. IEEE Transactions on Control of Network Systems, In press, ⟨10.1109/TCNS.2023.3290429⟩. ⟨hal-04390600⟩
  • Siyuan Wang, Haibin Duan, Gang Zheng, Xubin Ping, Driss Boutat, et al.. Homogeneous Control Design Using Invariant Ellipsoid Method. IEEE Transactions on Automatic Control, 2024, pp.1-8. ⟨10.1109/TAC.2024.3384844⟩. ⟨hal-04615967⟩
  • Julien Jean Ducrocq, Guillaume Caron, Hervé Midavaine, Christian Duriez, Jérémie Dequidt, et al.. VisAdapt: Catadioptric Adaptive Camera for scenes of variable density of visual information. Applied optics, 2023, 62 (35), pp.9207-9214. ⟨10.1364/AO.500663⟩. ⟨hal-04276452⟩
  • Shijie Li, Tran Anh-Tu Nguyen, Thierry-Marie Guerra, Alexandre Kruszewski. Reduced-order model based dynamic tracking for soft manipulators: Data-driven LPV modeling, control design and experimental results. Control Engineering Practice, 2023, 138, pp.105618. ⟨10.1016/j.conengprac.2023.105618⟩. ⟨hal-04278797⟩
  • Priyanka Rao, Chloe Pogue, Quentin Peyron, Eric Diller, Jessica Burgner-Kahrs. Modeling and Analysis of Tendon-Driven Continuum Robots for Rod-Based Locking. IEEE Robotics and Automation Letters, 2023, 8 (6), pp.3126-3133. ⟨10.1109/LRA.2023.3264869⟩. ⟨hal-04337090⟩
  • Costanza Armanini, Frédéric Boyer, Anup Teejo Mathew, Christian Duriez, Federico Renda. Soft Robots Modeling: A Structured Overview. IEEE Transactions on Robotics, 2023, 39 (3), pp.1728-1748. ⟨10.1109/TRO.2022.3231360⟩. ⟨hal-04334544⟩
  • Frédéric Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda, Mazen Alamir. Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories. IEEE Transactions on Robotics, 2023, 39 (2), pp.1544-1562. ⟨10.1109/TRO.2022.3226112⟩. ⟨hal-03899887⟩
  • Haihong Li, Lingxiao Xun, Gang Zheng, Federico Renda. Discrete Cosserat Static Model-Based Control of Soft Manipulator. IEEE Robotics and Automation Letters, 2023, 8 (3), pp.1739-1746. ⟨10.1109/LRA.2023.3243799⟩. ⟨hal-04325326⟩
  • Antonin Bernardin, Eulalie Coevoet, Paul Kry, Sheldon Andrews, Christian Duriez, et al.. Constraint-based Simulation of Passive Suction Cups. ACM Transactions on Graphics, 2023, 42 (1), pp.1-14. ⟨10.1145/3551889⟩. ⟨hal-03869711⟩
  • Lingxiao Xun, Gang Zheng, Sofiane Ghenna, Alexandre Kruszewski, Eric Cattan, et al.. Modeling and control of conducting polymer actuator. IEEE/ASME Transactions on Mechatronics, 2023, 495-506, ⟨10.1109/TMECH.2022.3211091⟩. ⟨hal-03852494⟩
  • Yu Zhou, Andrey Polyakov, Gang Zheng. Generalized homogeneous control with integral action. International Journal of Robust and Nonlinear Control, 2023, ⟨10.1002/rnc.6612⟩. ⟨hal-03993724⟩
  • Quentin Peyron, Jessica Burgner-Kahrs. Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening. IEEE Transactions on Robotics, 2023, pp.1-17. ⟨10.1109/TRO.2023.3324571⟩. ⟨hal-04337068v2⟩
  • Ke Wu, Gang Zheng, Guimin Chen, Shorya Awtar. A Body-frame Beam Constraint Model. Mechanism and Machine Theory, In press, ⟨10.1016/j.mechmachtheory.2023.105517⟩. ⟨hal-04325275⟩
  • Ke Wu, Gang Zheng, Guimin Chen. Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms. Journal of Mechanisms and Robotics, 2023, 15 (6), pp.061012. ⟨10.1115/1.4056501⟩. ⟨hal-03917098⟩
  • Jiancheng Zhang, Chee Pin Tan, Gang Zheng, Yan Wang. On sliding mode observers for non-infinitely observable descriptor systems. Automatica, 2023, 147, pp.110676. ⟨10.1016/j.automatica.2022.110676⟩. ⟨hal-03913421⟩
  • Rui Chen, Wei Wang, Ke Wu, Gang Zheng, Xiangjian Xu, et al.. Design and optimization of a novel compliant planar parallelogram mechanism utilizing initially curved beams. Mechanism and Machine Theory, 2023, 179, pp.105092. ⟨10.1016/j.mechmachtheory.2022.105092⟩. ⟨hal-03913424⟩
  • Haihong Li, Lingxiao Xun, Gang Zheng. Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator. IEEE Transactions on Robotics, 2023, 39 (3), pp.2342-2359. ⟨10.1109/TRO.2023.3236942⟩. ⟨hal-03913430⟩
  • Mohammad Alshawabkeh, Hosam Alagi, Stefan Escaida Navarro, Christian Duriez, Björn Hein, et al.. Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems. IEEE Transactions on Instrumentation and Measurement, 2023, Ieee Transactions On Instrumentation and Measurement, 72, pp.1-10. ⟨10.1109/tim.2023.3250232⟩. ⟨hal-04355276⟩
  • Margaret Koehler, Thor Morales Bieze, Alexandre Kruszewski, Allison Okamura, Christian Duriez. Modeling and Control of a 5-DOF Parallel Continuum Haptic Device. IEEE Transactions on Robotics, 2023, 39 (5), pp.3636-3654. ⟨10.1109/TRO.2023.3277068⟩. ⟨hal-04315434⟩
  • Etienne Ménager, Quentin Peyron, Christian Duriez. Toward the use of proxies for efficient learning manipulation and locomotion strategies on soft robots.. IEEE Robotics and Automation Letters, In press, ⟨10.48550/arXiv.2310.17029⟩. ⟨hal-04249925⟩
  • Haihong Li, Lingxiao Xun, Gang Zheng. Global Control of Soft Manipulator by Unifying Cosserat and Neural Network. IEEE Transactions on Industrial Electronics, In press. ⟨hal-04325359⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski. Position-Access Workspace of Slender Soft Manipulators. Journal of Mechanisms and Robotics, 2022, 14 (6), ⟨10.1115/1.4054840⟩. ⟨hal-03912828⟩
  • Ke Wu, Gang Zheng. Solutions to large beam-deflection problems by Taylor series and Padé approximant for compliant mechanisms. Mechanism and Machine Theory, 2022, 177, pp.105033. ⟨10.1016/j.mechmachtheory.2022.105033⟩. ⟨hal-03912830⟩
  • Shijie Li, Alexandre Kruszewski, Thierry-Marie Guerra, Tran Anh-Tu Nguyen. Equivalent-Input-Disturbance-Based Dynamic Tracking Control for Soft Robots via Reduced-Order Finite-Element Models. IEEE/ASME Transactions on Mechatronics, 2022, 27 (5), pp.4078-4089. ⟨10.1109/TMECH.2022.3144353⟩. ⟨hal-04278852⟩
  • Gianmarco Mengaldo, Federico Renda, Steven L Brunton, Moritz Bächer, Marcello Calisti, et al.. A concise guide to modelling the physics of embodied intelligence in soft robotics. Nature Reviews Physics, 2022, 4 (9), pp.595-610. ⟨10.1038/s42254-022-00481-z⟩. ⟨hal-03921606⟩
  • Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs. Shape Representation and Modeling of Tendon-Driven Continuum Robots using Euler Arc Splines. IEEE Robotics and Automation Letters, 2022, 7 (3), pp.8114-8121. ⟨10.1109/LRA.2022.3185377⟩. ⟨hal-03899902⟩
  • Ke Wu, Gang Zheng. Insight into numerical solutions of static large deflection of general planar beams for Compliant Mechanisms. Mechanism and Machine Theory, 2022, 172, pp.104757. ⟨10.1016/j.mechmachtheory.2022.104757⟩. ⟨hal-03912829⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski. FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.3672-3678. ⟨10.1109/LRA.2022.3147890⟩. ⟨hal-03912826⟩
  • Ke Wu, Gang Zheng. FEM-Based Nonlinear Controller for a Soft Trunk Robot. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.5735-5740. ⟨10.1109/LRA.2022.3159856⟩. ⟨hal-03912831⟩
  • Félix Vanneste, Olivier Goury, Christian Duriez. Calibration method for soft robots modeled with FEM: application to anisotropy. IEEE Robotics and Automation Letters, 2022, ⟨10.1109/LRA.2022.3155784⟩. ⟨hal-03620806⟩
  • Chengcheng Song, Haoping Wang, Yang Tian, Gang Zheng, Alexandre Seuret. Event-triggered observer design for linear systems subject to delayed and sampled output. International Journal of Control, 2022, 95 (3), pp.581-588. ⟨10.1080/00207179.2020.1805127⟩. ⟨hal-02941641⟩
  • Eulalie Coevoet, Yinoussa Adagolodjo, Meichun Lin, Christian Duriez, Fanny Ficuciello. Planning of soft-rigid Hybrid arms in Contact with Compliant Environment: application to the transrectal biopsy of the prostate. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.4853-4860. ⟨10.1109/LRA.2022.3152322⟩. ⟨hal-03729071⟩
  • Siyuan Wang, Andrey Polyakov, Gang Zheng. Quadrotor stabilization under time and space constraints using implicit PID controller. Journal of The Franklin Institute, 2022. ⟨hal-03582071⟩
  • Shunjie Li, Yawen Wu, Gang Zheng. Adaptive Synchronization for Hyperchaotic Liu System. Frontiers in Physics, 2022, 9, pp.812048. ⟨10.3389/fphy.2021.812048⟩. ⟨hal-03509081⟩
  • Ke Wu, Gang Zheng. Theoretical Analysis on Nonlinear Buckling, Post-Buckling of Slender Beams and Bi-Stable Mechanisms. Journal of Mechanisms and Robotics, 2022, 14 (3), pp.031015. ⟨10.1115/1.4053047⟩. ⟨hal-03509077⟩
  • Suhuan Zhang, Junfeng Zhang, Gang Zheng. Hybrid gain performance‐based random event‐triggered filter of positive semi‐Markovian jump systems with intermittent sensor faults. International Journal of Robust and Nonlinear Control, In press, 32 (3), pp.1425-1452. ⟨10.1002/rnc.5886⟩. ⟨hal-03509079⟩
  • Ke Wu, Gang Zheng. A comprehensive static modeling methodology via beam theory for compliant mechanisms. Mechanism and Machine Theory, 2022, 169, pp.104598. ⟨10.1016/j.mechmachtheory.2021.104598⟩. ⟨hal-03513497⟩
  • Stefan Escaida Navarro, Stephan Mühlbacher-Karrer, Hosam Alagi, Hubert Zangl, Keisuke Koyama, et al.. Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications. IEEE Transactions on Robotics, 2022, 38, pp.1599-1620. ⟨10.1109/TRO.2021.3111786⟩. ⟨hal-03156830v2⟩
  • François Jourdes, Brice Valentin, Jérémie Allard, Christian Duriez, Barbara Seeliger. Visual Haptic Feedback for Training of Robotic Suturing. Frontiers in Robotics and AI, 2022, ⟨10.3389/frobt.2022.800232⟩. ⟨hal-03797750⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski. FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach. Soft Robotics, In press. ⟨hal-03913432⟩
  • Xiang Zhang, Lei Yu, Gang Zheng, Yonina C Eldar. Spiking Sparse Recovery with Non-convex Penalties. IEEE Transactions on Signal Processing, 2022, 70, pp.6272-6285. ⟨10.1109/TSP.2023.3234460⟩. ⟨hal-03917099⟩
  • Etienne Ménager, Pierre Schegg, Elie Khairallah, Damien Marchal, Jérémie Dequidt, et al.. SofaGym: An open platform for Reinforcement Learning based on Soft Robot simulations. Soft Robotics, In press. ⟨hal-03778189⟩
  • Tiandong Zhang, Rui Wang, Shuo Wang, Yu Wang, Long Cheng, et al.. Autonomous Skill Learning of Water Polo Ball Heading for a Robotic Fish: Curriculum and Verification. IEEE Transactions on Cognitive and Developmental Systems, 2022, 15 (2), pp.865-876. ⟨10.1109/TCDS.2022.3189095⟩. ⟨hal-03913427⟩
  • Junfeng Zhang, Gang Zheng, Yinggang Feng, Yun Chen. Event-Triggered State-Feedback and Dynamic Output-Feedback Control of Positive Markovian Jump Systems With Intermittent Faults. IEEE Transactions on Automatic Control, 2022, 68 (2), pp.1039-1046. ⟨10.1109/TAC.2022.3146709⟩. ⟨hal-03913429⟩
  • Ke Wu, Gang Zheng, Junfeng Zhang. Fem-based trajectory tracking control of a soft trunk robot. Robotics and Autonomous Systems, 2022, 150, pp.103961. ⟨10.1016/j.robot.2021.103961⟩. ⟨hal-03509082⟩
  • Chengcheng Song, Haoping Wang, Yang Tian, Gang Zheng. Event-triggered observer design for output-sampled systems. Nonlinear Analysis: Hybrid Systems, 2021, 43, pp.101112. ⟨10.1016/j.nahs.2021.101112⟩. ⟨hal-03509072⟩
  • Siyuan Wang, Andrey Polyakov, Gang Zheng. Generalized Homogenization of Linear Observers: Theory and Experiment. International Journal of Robust and Nonlinear Control, 2021, ⟨10.1002/rnc.5771⟩. ⟨hal-03382805⟩
  • Nina Ogrinc, Alexandre Kruszewski, Paul Chaillou, Philippe Saudemont, Chann Lagadec, et al.. Robot-assisted spidermass for in vivo real-time topography mass spectrometry imaging. Analytical Chemistry, 2021, Analytical Chemistry, ⟨10.1021/acs.analchem.1c01692⟩. ⟨hal-03990566⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski. Workspace Boundary Estimation for Soft Manipulators Using a Continuation Approach. IEEE Robotics and Automation Letters, 2021, 6 (4), pp.7169-7176. ⟨10.1109/LRA.2021.3097662⟩. ⟨hal-03509070⟩
  • Shun-Jie Li, Ya-Wen Wu, Gang Zheng. Adaptive synchronization of chaotic systems with less measurement and actuation*. Chinese Physics B, 2021, 30 (10), pp.100503. ⟨10.1088/1674-1056/abec33⟩. ⟨hal-03509064⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski, Federico Renda. Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach. Journal of Mechanisms and Robotics, 2021, 14 (1), ⟨10.1115/1.4051609⟩. ⟨hal-03509069⟩
  • Ke Wu, Gang Zheng, Guangbo Hao. Efficient spatial compliance analysis of general initially curved beams for mechanism synthesis and optimization. Mechanism and Machine Theory, 2021, 162, pp.104343. ⟨10.1016/j.mechmachtheory.2021.104343⟩. ⟨hal-03509067⟩
  • Yinoussa Adagolodjo, Federico Renda, Christian Duriez, Yinoussa Adagolodjo. Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots. IEEE Robotics and Automation Letters, 2021, IEEE Robotics and Automation Letters, 6 (2), pp.3910-3917. ⟨10.1109/LRA.2021.3061977⟩. ⟨hal-03192168⟩
  • Olivier Goury, Bruno Carrez, Christian Duriez. Real-Time Simulation For Control Of Soft Robots With Self-Collisions Using Model Order Reduction For Contact Forces. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3752 - 3759. ⟨10.1109/LRA.2021.3064247⟩. ⟨hal-03192762⟩
  • Maxime Thieffry, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez. Trajectory Tracking Control Design for Large-Scale Linear Dynamical Systems With Applications to Soft Robotics. IEEE Transactions on Control Systems Technology, 2021, 29 (2), pp.556-566. ⟨10.1109/TCST.2019.2953624⟩. ⟨hal-02404003⟩
  • Heesun Choi, Cindy Crump, Christian Duriez, Asher Elmquist, Gregory Hager, et al.. On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward. Proceedings of the National Academy of Sciences of the United States of America, 2021, 118 (1), ⟨10.1073/pnas.1907856118⟩. ⟨hal-04276447⟩
  • Stefan Escaida Navarro, Singh Dhaliwal, Mario Sanz Lopez, Sarah Wilby, Antony Palmer, et al.. A Bio-Inspired Active Prostate Phantom for Adaptive Interventions. IEEE Transactions on Medical Robotics and Bionics, In press, ⟨10.1109/TMRB.2021.3123385⟩. ⟨hal-03374911⟩
  • Ke Wu, Gang Zheng. FEM-based Gain-Scheduling Control of a Soft Trunk Robot. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3081 - 3088. ⟨10.1109/LRA.2021.3061311⟩. ⟨hal-03125961⟩
  • Chengcheng Song, Haoping Wang, Yang Tian, Gang Zheng. Event-triggered observer design for delayed output-sampled systems. IEEE Transactions on Automatic Control, 2020, 65 (11), pp.4824 - 4831. ⟨10.1109/TAC.2019.2960267⟩. ⟨hal-02406816⟩
  • Xingyu Zhou, Haoping Wang, Yang Tian, Gang Zheng. Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint. International Journal of Adaptive Control and Signal Processing, 2020, 34 (9), pp.1220-1241. ⟨10.1002/acs.3150⟩. ⟨hal-03087577⟩
  • Wided Saadi, Driss Boutat, Gang Zheng, Lassaad Sbita, Lei Yu. Algorithm to compute nonlinear partial observer normal form with multiple outputs. IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2700 - 2707. ⟨10.1109/TAC.2019.2946528⟩. ⟨hal-02406825⟩
  • Thor Morales Bieze, Alexandre Kruszewski, Bruno Carrez, Christian Duriez. Design, implementation and control of a deformable manipulator robot based on a compliant spine. The International Journal of Robotics Research, 2020, ⟨10.1177/ToBeAssigned⟩. ⟨hal-03028723⟩
  • Mamadou Mboup, Cédric Join, Michel Fliess, Yue Wang, Gang Zheng, et al.. Comments on "Differentiator application in altitude control for an indoor blimp robot". International Journal of Control, 2020, 93 (5), pp.1218-1219. ⟨10.1080/00207179.2018.1500040⟩. ⟨hal-01832874⟩
  • Gang Zheng, Yuan Zhou, Mingda Ju. Robust control of a silicone soft robot using neural networks. ISA Transactions, 2020, 100, pp.38-45. ⟨10.1016/j.isatra.2019.12.004⟩. ⟨hal-02406765⟩
  • Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Disturbance Compensation Based Controller for an Indoor Blimp Robot. Robotics and Autonomous Systems, 2020, 124, pp.103402. ⟨10.1016/j.robot.2019.103402⟩. ⟨hal-02406793⟩
  • Félix Vanneste, Olivier Goury, Jonas Martinez, Sylvain Lefebvre, Hervé Delingette, et al.. Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2380-2386. ⟨10.1109/LRA.2020.2969926⟩. ⟨hal-02475589⟩
  • Gang Zheng. Control of a Silicone soft tripod robot via uncertainty compensation. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2801 - 2807. ⟨10.1109/LRA.2020.2974714⟩. ⟨hal-02487883⟩
  • Stefan Escaida Navarro, Björn Hein, Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, et al.. A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics. IEEE Robotics and Automation Letters, 2020, 5 (4), pp.5621-5628. ⟨10.1109/LRA.2020.3008120⟩. ⟨hal-02882039⟩
  • Siyuan Wang, Andrey Polyakov, Gang Zheng. Generalized Homogenization of Linear Controllers: Theory and Experiment. International Journal of Robust and Nonlinear Control, In press, ⟨10.1002/rnc.5112⟩. ⟨hal-02877410⟩
  • Kokou A.A. Langueh, Gang Zheng, Thierry Floquet. Fixed-time sliding mode based observer for nonlinear systems with unknown parameters and unknown inputs. IET Control Theory and Applications, 2020, 14 (14), pp.1920 - 1927. ⟨10.1049/iet-cta.2019.1049⟩. ⟨hal-02637630⟩
  • Junying Ren, Lei Yu, Chengcheng Lyu, Gang Zheng, Hong Sun, et al.. Dynamical Sparse Signal Recovery with Fixed-Time Convergence. Signal Processing, 2019, 162, pp.65-74. ⟨10.1016/j.sigpro.2019.04.010⟩. ⟨hal-02406715⟩
  • Carine Rognon, Margaret Koehler, Christian Duriez, Dario Floreano, Allison M Okamura. Soft Haptic Device to Render the Sensation of Flying Like a Drone. IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2524-2531. ⟨10.1109/LRA.2019.2907432⟩. ⟨hal-02400542⟩
  • Margaret Koehler, Allison M Okamura, Christian Duriez. Stiffness Control of Deformable Robots Using Finite Element Modeling. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.469-476. ⟨10.1109/LRA.2019.2890897⟩. ⟨hal-02079146⟩
  • Zhongkai Zhang, Antoine Petit, Jeremie Dequidt, Christian Duriez. Calibration and External Force Sensing for Soft Robots using an RGB-D Camera. IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2356 - 2363. ⟨10.1109/LRA.2019.2903356⟩. ⟨hal-02060976⟩
  • Zhongkai Zhang, Jeremie Dequidt, Junghwan Back, Hongbin Liu, Christian Duriez. Motion Control of Cable-Driven Continuum Catheter Robot through Contacts. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1852-1859. ⟨10.1109/LRA.2019.2898047⟩. ⟨hal-02052637⟩
  • Zhifan Jiang, Olivier Mayeur, Jean-Francois Witz, Pauline Lecomte‐grosbras, Jérémie Dequidt, et al.. Virtual image correlation of magnetic resonance images for 3D geometric modelling of pelvic organs. Strain, 2019, 55 (3), pp.e12305. ⟨10.1111/str.12305⟩. ⟨hal-02403391⟩
  • Maxime Thieffry, Alexandre Kruszewski, Christian Duriez, Thierry-Marie Guerra. Control Design for Soft Robots based on Reduced Order Model. IEEE Robotics and Automation Letters, 2019, 4 (1), pp.25-32. ⟨10.1109/LRA.2018.2876734⟩. ⟨hal-01901031⟩
  • Gang Zheng, Haoping Wang. Finite-time estimation for linear time-delay systems via homogeneous method. International Journal of Control, 2019, 92 (6), pp.1252-1263. ⟨10.1080/00207179.2017.1390255⟩. ⟨hal-01649434⟩
  • Stefan Escaida Navarro, Olivier Goury, Gang Zheng, Thor Morales Bieze, Christian Duriez. Modeling Novel Soft Mechanosensors based on Air-Flow Measurements. IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4338 - 4345. ⟨10.1109/LRA.2019.2932604⟩. ⟨hal-02239080⟩
  • Bai-Hui Du, Andrey Polyakov, Gang Zheng, Quan Quan. Quadrotor trajectory tracking by using fixed-time differentiator. International Journal of Control, 2019, 2019 - Issue 12, ⟨10.1080/00207179.2018.1462534⟩. ⟨hal-01947365⟩
  • Sonia Maalej, Alexandre Kruszewski, Lotfi Belkoura. Derivative-Based Sampled Data Control for Continuous Linear Parameter Varying System With Unknown Parameters. Journal of Dynamic Systems, Measurement, and Control, 2019, 141 (8), pp.081013. ⟨10.1115/1.4042947⟩. ⟨hal-02403902⟩
  • Thierry-Marie Guerra, Raymundo Márquez Borbόn, Alexandre Kruszewski, Miguel Bernal. $H\infty$ LMI-Based Observer Design for Nonlinear Systems via Takagi–Sugeno Models With Unmeasured Premise Variables. IEEE Transactions on Fuzzy Systems, 2018, 26 (3), pp.1498-1509. ⟨10.1109/TFUZZ.2017.2728522⟩. ⟨hal-02403875⟩
  • Kokou Langueh, Gang Zheng, Thierry Floquet. Impulsive fixed-time observer for linear time-delay systems. Journal of The Franklin Institute, 2018, 355 (7), pp.3354-3366. ⟨10.1016/j.jfranklin.2018.02.019⟩. ⟨hal-02057901⟩
  • Zohra Kader, Gang Zheng, Jean-Pierre Barbot. Finite-time and asymptotic left inversion of nonlinear time-delay systems. Automatica, 2018, 95, pp.283-292. ⟨10.1016/j.automatica.2018.05.002⟩. ⟨hal-01781561⟩
  • Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Differentiator application in altitude control for an indoor blimp robot. International Journal of Control, 2018, 91 (9), pp.2121 - 2130. ⟨10.1080/00207179.2018.1441549⟩. ⟨hal-01889244⟩
  • Zhongkai Zhang, Jérémie Dequidt, Christian Duriez. Vision-Based Sensing of External Forces Acting on Soft Robots Using Finite Element Method. IEEE Robotics and Automation Letters, 2018, 3 (3), pp.1529 - 1536. ⟨10.1109/LRA.2018.2800781⟩. ⟨hal-01720645⟩
  • Gang Zheng, Andrey Polyakov, Arie Levant. Delay estimation via sliding mode for nonlinear time-delay systems. Automatica, 2018, 89, pp.266-273. ⟨10.1016/j.automatica.2017.11.033⟩. ⟨hal-01649546⟩
  • Olivier Goury, Christian Duriez. Fast, generic and reliable control and simulation of soft robots using model order reduction. IEEE Transactions on Robotics, 2018, 34 (6), pp.1565 - 1576. ⟨10.1109/TRO.2018.2861900⟩. ⟨hal-01834483⟩
  • Thor Morales Bieze, Frederick Largilliere, Alexandre Kruszewski, Zhongkai Zhang, Rochdi Merzouki, et al.. Finite element method-based kinematics and closed-loop control of soft, continuum manipulators. Soft Robotics, 2018, 5 (3), pp.348-364. ⟨10.1089/soro.2017.0079⟩. ⟨hal-01745625⟩
  • Sonia Maalej, Alexandre Kruszewski, Lotfi Belkoura. Stabilization of Takagi–Sugeno models with non-measured premises: Input-to-state stability approach. Fuzzy Sets and Systems, 2017, 329, pp.108-126. ⟨10.1016/j.fss.2017.05.011⟩. ⟨hal-02403913⟩
  • Eulalie Coevoet, Thor Morales Bieze, Frederick Largilliere, Zhongkai Zhang, Maxime Thieffry, et al.. Software toolkit for modeling, simulation and control of soft robots. Advanced Robotics, 2017, 31, pp.1208-1224. ⟨10.1080/01691864.2017.1395362⟩. ⟨hal-01649355⟩
  • Lei Yu, Gang Zheng, Jean-Pierre Barbot. Dynamical Sparse Recovery with Finite-time Convergence. IEEE Transactions on Signal Processing, 2017, 65 (23), pp.6146-6157. ⟨10.1109/TSP.2017.2745468⟩. ⟨hal-01649419⟩
  • Francisco Javier Bejarano, Gang Zheng. Unknown Input Functional Observability of Descriptor Systems with Neutral and Distributed Delay Effects. Automatica, 2017, 85, pp.186-192. ⟨10.1016/j.automatica.2017.07.044⟩. ⟨hal-01649577⟩
  • Francisco Javier Bejarano, Gang Zheng. Observability of Singular Systems with Commensurate Time-Delays and Neutral terms. Automatica, 2017, 85, pp.462-467. ⟨10.1016/j.automatica.2017.08.001⟩. ⟨hal-01649585⟩
  • Gang Zheng, Driss Boutat, Haoping Wang. A nonlinear Luenberger-like observer for nonlinear singular systems. Automatica, 2017, 86, pp.11-17. ⟨10.1016/j.automatica.2017.08.018⟩. ⟨hal-01649492⟩
  • Ramdane Tami, Driss Boutat, Gang Zheng, Frédéric Kratz, Rachid El El Gouri. Rotor speed, load torque and parameters estimations of a permanent magnet synchronous motor using extended observer forms. IET Control Theory and Applications, 2017, 11 (9), pp.1485-1492. ⟨10.1049/iet-cta.2016.0226⟩. ⟨hal-01447955⟩
  • Zilong Shao, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Identification, estimation and control for linear systems using measurements of higher order derivatives. Journal of Dynamic Systems, Measurement, and Control, 2017, 139 (12), pp.1-6. ⟨10.1115/1.4037007⟩. ⟨hal-01649537⟩
  • Da-Yan Liu, Gang Zheng, Driss Boutat, Hao-Ran Liu. Non-asymptotic fractional order differentiator for a class of fractional order linear systems. Automatica, 2017, 78, pp.61-71. ⟨10.1016/j.automatica.2016.12.017⟩. ⟨hal-01420910⟩
  • Eulalie Coevoet, Adrien Escande, Christian Duriez. Optimization-Based Inverse Model of Soft Robots With Contact Handling. IEEE Robotics and Automation Letters, 2017, ⟨10.1109/LRA.2017.2669367⟩. ⟨hal-01500912⟩
  • Zhifan Jiang, Jean-François Witz, Pauline Lecomte-Grosbras, Jeremie Dequidt, Stéphane Cotin, et al.. Multiorgan Motion Tracking in Dynamic Magnetic Resonance Imaging for Evaluation of Pelvic System Mobility and Shear Strain. Strain, 2017, 53 (2), ⟨10.1111/str.12224⟩. ⟨hal-01496177v2⟩
  • Lei Yu, Gang Zheng, Driss Boutat. Adaptive observer for simultaneous state and parameter estimations for an output depending normal form. Asian Journal of Control, 2017, 19 (1), pp.356-361. ⟨10.1002/asjc.1355⟩. ⟨hal-01410734⟩
  • Raymundo Márquez Borbόn, Thierry-Marie Guerra, Miguel Bernal, Alexandre Kruszewski. Asymptotically necessary and sufficient conditions for Takagi–Sugeno models using generalized non-quadratic parameter-dependent controller design. Fuzzy Sets and Systems, 2017, 306, pp.48 - 62. ⟨10.1016/j.fss.2015.12.012⟩. ⟨hal-01410325⟩
  • Erwan Kerrien, Ahmed Yureidini, Jeremie Dequidt, Christian Duriez, René Anxionnat, et al.. Blood vessel modeling for interactive simulation of interventional neuroradiology procedures. Medical Image Analysis, 2017, 35, pp.685 - 698. ⟨10.1016/j.media.2016.10.003⟩. ⟨hal-01390923⟩
  • Sonia Maalej, Alexandre Kruszewski, Lotfi Belkoura. Robust Control for Continuous LPV System with Restricted-Model-Based Control. Circuits, Systems, and Signal Processing, 2016, ⟨10.1007/s00034-016-0404-6⟩. ⟨hal-01410300⟩
  • Olivier Goury, David Amsallem, Stéphane Pierre-Alain Bordas, Wing Kam Liu, Pierre Kerfriden. Automatised selection of load paths to construct reduced-order models in computational damage micromechanics: from dissipation-driven random selection to Bayesian optimization. Computational Mechanics, 2016, 58 (2), pp.213-234. ⟨10.1007/s00466-016-1290-2⟩. ⟨hal-01302831⟩
  • Hugo Talbot, Federico Spadoni, Christian Duriez, Maxime Sermesant, Stéphane Cotin, et al.. Interactive Training System for Interventional Electrocardiology Procedures. Medical Image Analysis, 2016, 8789, pp.11-19. ⟨10.1007/978-3-319-12057-7_2⟩. ⟨hal-01338346⟩
  • Romain Delpoux, Laurentiu Hetel, Alexandre Kruszewski. Parameter Dependent Relay Control: application to PMSM. IEEE Transactions on Control Systems Technology, 2015, pp.12. ⟨10.1109/TCST.2014.2378173⟩. ⟨hal-01093759⟩
  • Christian Duriez. 50 nuances de robots mous !. Interstices, 2015. ⟨hal-01350436⟩
  • Julien Lepage, C Jawosi, Pauline Lecomte-Grosbras, Mathias Brieu, Christian Duriez, et al.. Biomechanical pregnant pelvic system model and numerical simulation of childbirth: impact of delivery on the uterosacral ligaments, preliminary results. International Urogynecology Journal, 2015, 26 (4), pp.497-504. ⟨10.1007/s00192-014-2498-3⟩. ⟨hal-01204629⟩
  • Anthony Talvas, Maud Marchal, Christian Duriez, Miguel A. Otaduy. Aggregate Constraints for Virtual Manipulation with Soft Fingers. IEEE Transactions on Visualization and Computer Graphics, 2015, 21 (4), pp.9. ⟨10.1109/TVCG.2015.2391863⟩. ⟨hal-01246562⟩
  • Nazim Haouchine, Stephane Cotin, Igor Peterlik, Jeremie Dequidt, Mario Sanz Lopez, et al.. Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery. IEEE Transactions on Visualization and Computer Graphics, 2015, 21 (5), pp.584 - 597. ⟨10.1109/TVCG.2014.2377772⟩. ⟨hal-01136728⟩
  • Zhifan Jiang, Jean-Francois Witz, M Lecomte-Grosbras, Jeremie Dequidt, Christian Duriez, et al.. B-spline Based Multi-organ Detection in Magnetic Resonance Imaging. Strain, 2015, 51, pp.235 - 247. ⟨10.1111/str.12136⟩. ⟨hal-01204589v2⟩
  • Nazim Haouchine, Jeremie Dequidt, Marie-Odile Berger, Stephane Cotin. Monocular 3D Reconstruction and Augmentation of Elastic Surfaces with Self-occlusion Handling. IEEE Transactions on Visualization and Computer Graphics, 2015, pp.14. ⟨10.1109/TVCG.2015.2452905⟩. ⟨hal-01186011⟩
  • Eulalie Coevoet, Nick Reynaert, Eric Lartigau, Luis Schiappacasse, Jérémie Dequidt, et al.. Registration by interactive inverse simulation: application for adaptive radiotherapy. International Journal of Computer Assisted Radiology and Surgery, 2015, 10 (8), pp.1193-1200. ⟨10.1007/s11548-015-1175-4⟩. ⟨hal-01261302⟩
  • Julien Bosman, Christian Duriez, Stéphane Cotin. Modèle pour la simulation de tissus connectifs. Revue Electronique Francophone d'Informatique Graphique, 2014, pp.13. ⟨hal-01095301⟩
  • Hadrien Courtecuisse, Jeremie Allard, Pierre Kerfriden, Stephane Pierre-Alain Bordas, Stephane Cotin, et al.. Real-time simulation of contact and cutting of heterogeneous soft-tissues. Medical Image Analysis, 2014, 18 (2), pp.394-410. ⟨10.1016/j.media.2013.11.001⟩. ⟨hal-01097108⟩
  • Bo Zhang, Alexandre Kruszewski, Jean-Pierre Richard. A novel control design for delayed teleoperation based on delay-scheduled Lyapunov-Krasovskii functionals. International Journal of Control, 2014, ⟨10.1080/00207179.2014.883464⟩. ⟨hal-00939507⟩
  • Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, et al.. Simulation virtuelle de la palpation de la chaîne des osselets: développement d’un retour de forces réaliste. Annales françaises d'Oto-rhino-laryngologie et de Pathologie Cervico-faciale, 2014, 131 (4), pp.A77. ⟨10.1016/j.aforl.2014.07.417⟩. ⟨hal-01148684⟩
  • Vincent Majorczyk, Stéphane Cotin, Jérémie Allard, Christian Duriez. Simulation de l'interaction entre film fluide et solides déformables. Revue Electronique Francophone d'Informatique Graphique, 2014, 8 (2), pp.10. ⟨hal-01165295⟩

Communications dans un congrès88 documents

  • Claire Martin, Christian Duriez, Hadrien Courtecuisse. High Rate Mechanical Coupling of Interacting Objects in the Context of Needle Insertion Simulation With Haptic Feedback. International Conference on Intelligent Robots and Systems (IROS 2024), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04750673⟩
  • Paul Chaillou, Jialei Shi, Alexandre Kruszewski, Isabelle Fournier, Helge Wurdemann, et al.. Optical Servoing of Soft Robotic Instrument for Cancer Imaging. ICRA@40, Sep 2024, Rotterdam, Netherlands. ⟨hal-04714460⟩
  • Flavie Przybylski, Yinoussa Adagolodjo, Jérémie Dequidt, Christian Duriez, Pierre Berthet-Rayne. Enhancing TAVI Robot Flexibility Using Semi-Extensible Materials. HSMR 2024 - 16th Hamlyn Symposium on Medical Robotics, Jun 2024, London, United Kingdom. ⟨hal-04646160⟩
  • Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez. Condensed semi-implicit dynamics for trajectory optimization in soft robotics. IEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States. ⟨10.1109/RoboSoft60065.2024.10521997⟩. ⟨hal-04466639⟩
  • Etienne Ménager, Christian Duriez. Learning control strategy in soft robotics through a set of configuration spaces. IEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States. ⟨hal-04466557⟩
  • Y Zhou, H Ríos, M Mera, A Polyakov, G Zheng, et al.. Trajectory Tracking in Unicycle Mobile Robots: A Homogeneity-based Control Approach. IFAC 2023 - 22nd World Congress of the International Federation of Automatic Control, Jul 2023, Yokohama, Japan. ⟨hal-04059857⟩
  • Min Li, Andrey Polyakov, Gang Zheng, Xubin Ping. On Prescribed-time Cooperative State Estimation of LTI Plants. IFAC 2023 - 22nd World Congress of the International Federation of Automatic Control, International Federation of Automatic Control, Jul 2023, Yokohama, Japan. ⟨hal-04059864⟩
  • Etienne Ménager, Tanguy Navez, Olivier Goury, Christian Duriez. Direct and inverse modeling of soft robots by learning a condensed FEM model. ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. pp.530-536, ⟨10.1109/ICRA48891.2023.10161537⟩. ⟨hal-04167863⟩
  • Flavie Przybylski, Yinoussa Adagolodjo, Anna Mîra, Giulio Cerruti, Jérémie Dequidt, et al.. 3D Kinematics and Quasi-Statics of a Growing Robot Eversion. 2023 IEEE International Conference on Soft Robotics (RoboSoft), Apr 2023, Singapore, France. pp.1-6, ⟨10.1109/RoboSoft55895.2023.10122073⟩. ⟨hal-04390298⟩
  • Camilla Agabiti, Etienne Ménager, Egidio Falotico. Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris. RoboSoft 2023 - 6th IEEE-RAS International Conference on Soft Robotics, Apr 2023, Singapore, Singapore. pp.1-6. ⟨hal-04167893⟩
  • Paul Chaillou, Jialei Shi, Alexandre Kruszewski, Isabelle Fournier, Helge Wurdemann, et al.. Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots. 2023 IEEE International Conference on Soft Robotics (RoboSoft), Apr 2023, Singapore, France. pp.1-8, ⟨10.1109/RoboSoft55895.2023.10122081⟩. ⟨hal-04101252⟩
  • Ahmad Itawi, Sofiane Ghenna, Guillaume Tourrel, Sébastien Grondel, Cedric Plesse, et al.. Smart electrode array for cochlear implants. 36th International Conference on Micro Electro Mechanical Systems (IEEE MEMS 2023), IEEE, Jan 2023, München, Germany. 4 p., ⟨10.1109/MEMS49605.2023.10052348⟩. ⟨hal-03946253⟩
  • Min Li, Andrey Polyakov, Gang Zheng. On Generalized Homogeneous Leader-Following Consensus. IEEE Conference on Decision and Control, Dec 2022, Cancun, Mexico. ⟨hal-03811929⟩
  • Chloe Pogue, Priyanka Rao, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs, et al.. Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨hal-03900014⟩
  • Yu Zhou, Andrey Polyakov, Gang Zheng. Homogeneous Finite-time Tracking Control on Lie Algebra so(3). ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. ⟨hal-03837838⟩
  • Pierre Schegg, Jérémie Dequidt, Eulalie Coevoet, Edouard Leurent, Rémi Sabatier, et al.. Automated planning for robotic guidewire navigation in the coronary arteries. Robosoft 2022 - International Conference on Soft Robotics, Apr 2022, Edimbourg, United Kingdom. ⟨hal-03778352⟩
  • Yu Zhou, Andrey Polyakov, Gang Zheng. On Strict Homogeneous Lyapunov Function for Generalized Homogeneous PI Controller. The 60th Conference on Decision and Control, Dec 2021, Austin, United States. ⟨hal-03349701⟩
  • Oscar Gallardo, Benjamin Mauze, Redwan Dahmouche, Christian Duriez, Guillaume Laurent. Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot. IROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9636596⟩. ⟨hal-03549322⟩
  • Sepaldeep Singh Dhaliwal, Sarah Wilby, Sina Firouzy, Kevin Brou Boni, Martijn de Vries, et al.. CoBra robot for localized cancer treatment and diagnosis under real-time MRI. AUTOMED 2021 - Interdisciplinary Symposium Automation in Medical Engineering, Jun 2021, Basel / Virtual, Switzerland. ⟨10.5281/zenodo.4923036⟩. ⟨hal-03284086⟩
  • Félix Vanneste, Olivier Goury, Christian Duriez. Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot. Robosoft 2021, Apr 2021, Yale / Virtual, United States. ⟨hal-03194087⟩
  • Qiongwen Yuan, Jingwei He, Lei Yu, Gang Zheng. Aim-Net: Bring Implicit Euler to Network Design. 2020 IEEE International Conference on Image Processing (ICIP), Oct 2020, Abu Dhabi, United Arab Emirates. pp.1926-1930, ⟨10.1109/ICIP40778.2020.9191185⟩. ⟨hal-03119411⟩
  • Christian Frisson, Julien Decaudin, Mario Sanz Lopez, Thomas Pietrzak. Printgets: an Open-Source Toolbox for Designing Vibrotactile Widgets with Industrial-Grade Printed Actuators and Sensors. Proceedings of the International Workshop on Haptic and Audio Interaction Design (HAID 2020), Aug 2020, Montreal, Canada. ⟨hal-02901202v2⟩
  • Gang Zheng. A simple strategy for the control of soft robot. 2020 39th Chinese Control Conference (CCC), Jul 2020, Shenyang, China. pp.1751-1755, ⟨10.23919/CCC50068.2020.9189126⟩. ⟨hal-03087579⟩
  • Ke Wu, Gang Zheng. Simulation and control co-design methodology for soft robotics. 2020 39th Chinese Control Conference (CCC), Jul 2020, Shenyang, China. pp.3910-3914, ⟨10.23919/CCC50068.2020.9189205⟩. ⟨hal-03087580⟩
  • Maxime Thieffry, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez. LPV Framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model. IFAC 2020 - 21rst IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02567575⟩
  • Siyuan Wang, Andrey Polyakov, Gang Zheng. On Generalized Homogenization of Linear Quadrotor Controller. IEEE International Conference on Robotics and Automation (ICRA)., May 2020, Paris, France. ⟨hal-02877399⟩
  • Paul Baksic, Hadrien Courtecuisse, Christian Duriez, Bernard Bayle. Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation. ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. pp.2407-2413, ⟨10.1109/ICRA40945.2020.9197515⟩. ⟨hal-02503574⟩
  • Walid Amehri, Gang Zheng, Alexandre Kruszewski. FEM Based Workspace Estimation for Soft Robots: a Forward-Backward Interval Analysis Approach. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), May 2020, New Haven, United States. pp.170-175, ⟨10.1109/RoboSoft48309.2020.9116002⟩. ⟨hal-03087578⟩
  • Antonin Bernardin, Christian Duriez, Maud Marchal. An Interactive Physically-based Model for Active Suction Phenomenon Simulation. SWS19 - SOFA Week Symposium, Nov 2019, Paris, France. ⟨hal-02419381⟩
  • Yuan Zhou, Mingda Ju, Gang Zheng. Closed-loop control of soft robot based on machine learning. CCC 2019 - 38th Chinese Control Conference, Jul 2019, Guangzhou, China. pp.4543-4547, ⟨10.23919/ChiCC.2019.8866257⟩. ⟨hal-02406854⟩
  • Francisco Javier Bejarano, Rosane Ushirobira, Gang Zheng. On the observability and detectability of non-commensurate time-delay linear systems. ECC 2019 - 18th European Control Conference, Jun 2019, Naples, Italy. pp.2921-2925, ⟨10.23919/ECC.2019.8796285⟩. ⟨hal-02406860⟩
  • Siyuan Wang, Andrey Polyakov, Gang Zheng. Quadrotor Control Design under Time and State Constraints: Implicit Lyapunov Function Approach. ECC'19 - European Control Conference, Jun 2019, Naples, Italy. ⟨hal-02093641⟩
  • Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Disturbance Compensation Based Control for an Indoor Blimp Robot. ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.2040-2046, ⟨10.1109/ICRA.2019.8793535⟩. ⟨hal-02406847⟩
  • Gang Zheng, Olivier Goury, Maxime Thieffry, Alexandre Kruszewski, Christian Duriez. Controllability pre-verification of silicone soft robots based on finite-element method. ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.7395-7400, ⟨10.1109/ICRA.2019.8794370⟩. ⟨hal-02403899⟩
  • Thomas Morzadec, Damien Marchal, Christian Duriez. Toward Shape Optimization of Soft Robots. RoboSoft 2019 - IEEE International Conference on Soft Robotics, Apr 2019, Séoul, South Korea. ⟨hal-02078776v2⟩
  • Eulalie Coevoet, Adrien Escande, Christian Duriez. Soft robots locomotion and manipulation control using FEM simulation and quadratic programming. RoboSoft 2019 - IEEE International Conference on Soft Robotics, Apr 2019, Seoul, South Korea. ⟨10.1109/ROBOSOFT.2019.8722815⟩. ⟨hal-02079151⟩
  • Robert K Katzschmann, Maxime Thieffry, Olivier Goury, Alexandre Kruszewski, Thierry-Marie Guerra, et al.. Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer. IEEE 2019 International Conference on Soft Robotics, Apr 2019, Séoul, South Korea. pp.717-724. ⟨hal-02078809⟩
  • Carlos Gomez, Francisco Javier Bejarano, Gang Zheng, Thierry Floquet. A class of observers for the observable part of linear systems with commensurate delays. CNCA 2018 - Congreso Nacional de Control Automático, Oct 2018, San Luis Potosi, Mexico. ⟨hal-01947394⟩
  • Fanny Ficuciello, Alessandro Migliozzi, Eulalie Coevoet, Antoine Petit, Christian Duriez. FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects. IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8593512⟩. ⟨hal-01889783⟩
  • Gang Zheng, Shunjie Li. Impulsive Observer for Linear Singular Time-Delay Systems. CCC2018 - Proceedings of the 37th Chinese Control Conference, Jul 2018, Wuhan, China. ⟨hal-01947376⟩
  • Shamila Nateghi, Yuri Shtessel, Jean-Pierre Barbot, Gang Zheng, Lei Yu. Cyber-Attack Reconstruction via Sliding Mode Differentiation and Sparse Recovery Algorithm: Electrical Power Networks Application. VSS 2018 - 15th International Workshop on Variable Structure Systems, Jul 2018, Graz, Austria. ⟨hal-01947385⟩
  • Maxime Thieffry, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez. Reduced Order Control of Soft Robots with Guaranteed Stability. European Control Conference ECC18, Jun 2018, Limassol, Cyprus. ⟨hal-01747433⟩
  • Sonia Maalej, Alexandre Kruszewski, Lotfi Belkoura. Model-free control of LTI systems: An algebraic state estimation approach. 2017 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Dec 2017, Monastir, Tunisia. pp.30-35, ⟨10.1109/STA.2017.8314951⟩. ⟨hal-02403910⟩
  • Kokou Langueh, Gang Zheng, Thierry Floquet. Finite-time estimation for linear TDS via two coupled Luenberger observers. CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01649405⟩
  • Kokou A.A. Langueh, Gang Zheng, Thierry Floquet. Topology identification of network systems. CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01649395⟩
  • Francisco Javier Bejarano, Gang Zheng, Shunjie Li. Observability analysis of linear singular time-delay systems. 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01660101⟩
  • Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Improved Altitude Control Method with Disturbance Compensation for an Indoor Blimp Robot. CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01660107⟩
  • Gang Zheng, Francisco Javier Bejarano, Shunjie Li. Luenberger-like observer for linear singular system with commensurate delay. 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01660102⟩
  • Zhongkai Zhang, Thor Morales Bieze, Jérémie Dequidt, Alexandre Kruszewski, Christian Duriez. Visual Servoing Control of Soft Robots based on Finite Element Model. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. ⟨hal-01618330⟩
  • Olivier Goury, Christian Duriez. Projection-based model order reduction for real-time control of soft robots. XIV International Conference on Plasticity. Fundamentals and Applications, Sep 2017, Barcelone, Spain. ⟨hal-01649765⟩
  • Gang Zheng, Haoping Wang. Estimation of unknown input for linear systems with commensurate delays. IEEE CCC 2017, Jul 2017, Dalian, China. ⟨hal-01660099⟩
  • Boussad Abci, Gang Zheng, Denis Efimov, Maan El Badaoui El Najjar. Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01660112⟩
  • Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Altitude Control for an Indoor Blimp Robot. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01660109⟩
  • Yajie Ma, Vincent Cocquempot, Maan El Badaoui Ei Najjar, Andrey Polyakov, Gang Zheng. Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01660111⟩
  • Maxime Thieffry, Alexandre Kruszewski, Olivier Goury, Thierry-Marie Guerra, Christian Duriez. Dynamic Control of Soft Robots. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01558844⟩
  • Alejandro Rodríguez, Eulalie Coevoet, Christian Duriez. Real-time simulation of hydraulic components for interactive control of soft robots. The 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapour, Singapore. ⟨hal-01535810⟩
  • Christian Duriez, Eulalie Coevoet, Frédérick Largilliere, Thor Morales Bieze, Zhongkai Zhang, et al.. Framework for online simulation of soft robots with optimization-based inverse model. SIMPAR: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Dec 2016, San Francisco, United States. ⟨hal-01425349⟩
  • Olivier Goury, Yann Nguyen, Renato Torres, Jeremie Dequidt, Christian Duriez. Numerical Simulation of Cochlear-Implant Surgery: Towards Patient-Specific Planning. 19th International Conference on Medical Image Computing & Computer Assisted Intervention (MICCAI 2016), Oct 2016, Athènes, Greece. pp 500-507. ⟨hal-01370185⟩
  • Zhongkai Zhang, Jeremie Dequidt, Alexandre Kruszewski, Frederick Largilliere, Christian Duriez. Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method. IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. ⟨hal-01370347⟩
  • Frédérick Largillière, Eulalie Coevoet, Mario Sanz Lopez, Laurent Grisoni, Christian Duriez. Stiffness rendering on soft tangible devices controlled through inverse FEM simulation. International Conference on Intelligent Robots and Systems - IROS 2016, Oct 2016, Daejeon, South Korea. ⟨hal-01386787⟩
  • Jeremie Dequidt, Eulalie Coevoet, Laurent Thines, Christian Duriez. Vascular neurosurgery simulation with bimanual haptic feedback. 12th Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS), Nov 2015, Lyon, France. ⟨10.2312/vriphys.20151337⟩. ⟨hal-01226256⟩
  • Hadrien Courtecuisse, Yinoussa Adagolodjo, Hervé Delingette, Christian Duriez, Yinoussa Adagolodjo. Haptic Rendering of Hyperelastic Models with Friction. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.591-596, ⟨10.1109/IROS.2015.7353432⟩. ⟨hal-01184113⟩
  • Noura Hamzé, Alexandre Bilger, Christian Duriez, Stéphane Cotin, Caroline Essert. Anticipation of Brain Shift in Deep Brain Stimulation Automatic Planning. IEEE Engineering in Medicine and Biology Society (EMBC’15), Aug 2015, Milan, Italy. pp.3635 - 3638 ⟨10.1109/EMBC.2015.7319180⟩. ⟨hal-01242851⟩
  • Nazim Haouchine, Alexandre Bilger, Jeremie Dequidt, Stephane Cotin. Fracture in Augmented Reality. SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. ⟨hal-01191090⟩
  • Bruno Marques, Nazim Haouchine, Rosalie Plantefeve, Stephane Cotin. Improving depth perception during surgical augmented reality. SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. pp.Article No. 24, ⟨10.1145/2787626.2792654⟩. ⟨hal-01191101⟩
  • Raymundo Márquez Borbόn, Thierry-Marie Guerra, Miguel Bernal, Alexandre Kruszewski. Eliminating the parameter-dependence of recent LMI results on controller design of descriptor systems. IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2015), Aug 2015, Istanbul, Turkey. ⟨10.1109/FUZZ-IEEE.2015.7338000⟩. ⟨hal-01410408⟩
  • Eiichi Yoshida, Ko Ayusawa, Ixchel Ramirez-Alpizar, Kensuke Harada, Christian Duriez, et al.. Simulation-based Optimal Motion Planning for Deformable Object. ARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. ⟨10.1109/ARSO.2015.7428219⟩. ⟨hal-01255803⟩
  • Raymundo Márquez Borbόn, Thierry-Marie Guerra, Miguel Bernal, Alexandre Kruszewski. Nested Control Laws for H∞ Disturbance Rejection Based on Continuous-Time Takagi-Sugeno Models. CESCIT 2015, Jun 2015, Maribor, Slovenia. pp.282 - 287, ⟨10.1016/j.ifacol.2015.08.145⟩. ⟨hal-01410317⟩
  • Julien Bosman, Thor Morales Bieze, Othman Lakhal, Mario Sanz, Rochdi Merzouki, et al.. Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras. IEEE International Conference on Robotics and Automation, May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139803⟩. ⟨hal-01183293⟩
  • Frederick Largilliere, Valerian Verona, Eulalie Coevoet, Mario Sanz Lopez, Jeremie Dequidt, et al.. Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling. ICRA 2015, May 2015, SEATTLE, United States. pp.6. ⟨hal-01163760⟩
  • Hugo Talbot, Nazim Haouchine, Igor Peterlik, Jeremie Dequidt, Christian Duriez, et al.. Surgery Training, Planning and Guidance Using the SOFA Framework. Eurographics, May 2015, Zurich, Switzerland. ⟨hal-01160297⟩
  • Frederick Largilliere, Eulalie Coevoet, Laurent Grisoni, Christian Duriez. Real-time FEM based control of soft surgical robots. SURGETICA 2014, Dec 2014, Chambéry, France. ⟨hal-01105146⟩
  • Mario Sanz Lopez, Jérémie Dequidt, Erwan Kerrien, Christian Duriez, Marie-Odile Berger, et al.. Testbed for assessing the accuracy of interventional radiology simulations. ISBMS - 6th International Symposium on Biomedical Simulation, Oct 2014, Strasbourg, France. ⟨hal-01059892⟩
  • Alexandre Bilger, Éric Bardinet, Sara Fernández-Vidal, Christian Duriez, Pierre Jannin, et al.. Intra-operative Registration for Stereotactic Procedures driven by a combined Biomechanical Brain and CSF Model. ISBMS - International Symposium on Biomedical Simulation, Oct 2014, Strasbourg, France. pp.76-85, ⟨10.1007/978-3-319-12057-7_9⟩. ⟨hal-01058435⟩
  • H Talbot, F Spadoni, Christian Duriez, M Sermesant, Stéphane Cotin, et al.. Interactive Training System for Interventional Electrocardiology Procedures. 6th International Symposium on Biomedical Simulation - ISBMS 2014, Oct 2014, Strabsourg, France. pp.11 - 19, ⟨10.1007/978-3-319-12057-7_2⟩. ⟨hal-01078209⟩
  • Julien Bosman, Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Stéphane Cotin, et al.. The Role of Ligaments: Patient-Specific or Scenario-Specific ?. International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. ⟨hal-01068077⟩
  • Rosalie Plantefeve, Nazim Haouchine, Jean Pierre Radoux, Stéphane Cotin. Automatic Alignment of pre and intraoperative Data using Anatomical Landmarks for Augmented Laparoscopic Liver Surgery. International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. ⟨hal-01068246⟩
  • Eulalie Coevoet, Nick Reynaert, Eric Lartigau, Luis Schiappacasse, Jérémie Dequidt, et al.. Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy. MICCAI - 17th International Conference on Medical Image Computing and Computer-Assisted Intervention, Sep 2014, Boston, United States. ⟨hal-01059667⟩
  • Alexandre Bilger, Eric Bardinet, Sara Fernández-Vidal, Christian Duriez, Pierre Jannin, et al.. Intra-operative Registration for Deep Brain Stimulation Procedures based on a Full Physics Head Model. MICCAI 2014 Workshop on Deep Brain Stimulation Methodological Challenges - 2nd edition, Sep 2014, Boston, United States. ⟨hal-01060304⟩
  • Nazim Haouchine, Jérémie Dequidt, Marie-Odile Berger, Stéphane Cotin. Single View Augmentation of 3D Elastic Objects. International Symposium on Mixed and Augmented Reality - ISMAR, Sep 2014, Munich, Germany. ⟨hal-01056323⟩
  • Rosalie Plantefeve, Igor Peterlik, Hadrien Courtecuisse, Raffaella Trivisonne, Jean-Pierre Radoux, et al.. Atlas-based Transfer of Boundary Conditions for Biomechanical Simulation. MICCAI - 17th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2014, Boston, United States. ⟨hal-01070339⟩
  • Nazim Haouchine, Stéphane Cotin, Jérémie Dequidt, Erwan Kerrien, Marie-Odile Berger. Réalité augmentée pour la chirurgie minimalement invasive du foie utilisant un modèle biomécanique guidé par l'image. Reconnaissance de Formes et Intelligence Artificielle (RFIA) 2014, Jun 2014, Rouen, France. ⟨hal-00988767⟩
  • Guillaume Kazmitcheff, Hadrien Courtecuisse, Yann Nguyen, Mathieu Miroir, Alexis Bozorg-Grayeli, et al.. Haptic Rendering on Deformable Anatomical Tissues with Strong Heterogeneities. Eurohaptics 2014, Jun 2014, Versailles, France. ⟨hal-01025614⟩
  • Romain Delpoux, Laurentiu Hetel, Alexandre Kruszewski. Permanent Magnet Synchronous Motor control via Parameter Dependent Relay Control. American Control Conference (ACC), Jun 2014, Portland, United States. ⟨10.1109/ACC.2014.6858935⟩. ⟨hal-00957800⟩
  • Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Erwan Kerrien, Marie-Odile Berger, et al.. Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery. International Conference on Robotics and Automation (ICRA), Jun 2014, Hong Kong, China. ⟨hal-01003262⟩
  • Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Stéphane Cotin, et al.. Virtual Simulation of Stapedotomy Surgery. ARO 2014, Feb 2014, San Diego, CA, United States. ⟨hal-00919984⟩
  • Hadrien Courtecuisse, Igor Peterlik, Raffaella Trivisonne, Christian Duriez, Stéphane Cotin. Constraint-Based Simulation for Non-Rigid Real-Time Registration. Medicine Meets Virtual Reality, Feb 2014, Manhattan Beach, California., United States. ⟨hal-01160739⟩
  • Alexandre Bilger, Christian Duriez, Stéphane Cotin. Computation and Visualization of Risk Assessment in Deep Brain Stimulation. MMVR 21 - Medicine Meets Virtual Reality, Feb 2014, Manhattan Beach, California, United States. ⟨hal-00881694v2⟩

Poster de conférence4 documents

  • Ahmad Itawi, Sofiane Ghenna, Guillaume Tourrel, Sébastien Grondel, Cedric Plesse, et al.. How electroactive polymer can be used for cochlear implants micro-robotization?. International workshop on Biomaterial Innovations Toward Repair of the Human Body #2, Nov 2022, CY Cergy-Paris University, France. ⟨hal-03839266⟩
  • Sepaldeep Singh Dhaliwal, Sarah Wilby, Martijn de Vries, Kévin Brou Boni, Sina Firouzy, et al.. CoBra robot for localized cancer treatment and diagnosis under real-time MRI guidance. The Hamlyn Symposium on Medical Robotics Imperial College London, Jun 2021, London, United Kingdom. ⟨hal-03321170⟩
  • Stefan Escaida Navarro, Olivier Goury, Gang Zheng, Thor Morales Bieze, Christian Duriez. Robust Fabrication of a Soft Mechanosensor based on Pneumatic Measurements. New Advances in Tactile Sensation, Perception, and Learning in Robotics: Emerging Materials and Technologies for Manipulation (RoboTac 2019), Nov 2019, Macao, China. ⟨hal-02876688⟩
  • Marwa A Eldiwiny, Eric Cattan, Christian Duriez. How To Design Your Polymer Artificial Muscle Actuator/ Sensor?. ICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-2. ⟨hal-01798709⟩

Ouvrages (y compris édition critique et traduction)1 document


Chapitres d'ouvrage4 documents

  • Nina Ogrinc, Paul Chaillou, Alexandre Kruszewski, Christian Duriez, Michel Salzet, et al.. Ambient Mass Spectrometry Imaging by Water-Assisted Laser Desorption/Ionization for Ex Vivo and in Vivo Applications.. Methods in Molecular Biology, 2688, Springer, pp.83-94, 2023, ⟨10.1007/978-1-0716-3319-9_8⟩. ⟨hal-04400799⟩
  • Hadrien Courtecuisse, Jérémie Dequidt. Augmented reality biomechanical simulations for pelvic conditions diagnoses. Biomechanics of the Female Reproductive System: Breast and Pelvic Organs, Elsevier, 2023, ⟨10.1016/C2020-0-00113-1⟩. ⟨hal-04293760⟩
  • Francisco Javier Bejarano, Gang Zheng. Observability and observer design of time-delay linear systems with unknown inputs. Control Strategy for Time-Delay Systems: Part I: Concepts and Theories, 2020. ⟨hal-03119412⟩
  • Christian Duriez. Soft robot modeling, simulation and control in real-time. Soft Robotics: Trends, Applications and Challenges, 2016, ⟨10.1007/978-3-319-46460-2_13⟩. ⟨hal-01410293⟩

Brevets2 documents

  • Siyuan Wang, Andrey Polyakov, Gang Zheng. Upgrade of PID controller using Generalized Homogeneity. France, N° de brevet: FR2004684. 2020. ⟨hal-03119522⟩
  • Roudy Dagher, Gang Zheng, Alban Quadrat. Self-location by relative distance measurement. France, N° de brevet: FR1853553. 2018. ⟨hal-03119524⟩

Autres publications2 documents

  • Eric Cattan, Gang Zheng. Un implant cochléaire robotisé prolonge le geste du chirurgien. Actualités INRIA, 2024. ⟨hal-04724081⟩
  • Roudy Dagher, Gang Zheng, Alban Quadrat. General closed-form solutions of the position self-calibration problem. 2019. ⟨hal-02419854⟩

Pré-publications, Documents de travail4 documents

  • Tanguy Navez, Baptiste Liévin, Quentin Peyron, Stefan Escaida Navarro, Olivier Goury, et al.. Design Optimization of a Soft Gripper using Self-Contacts. 2024. ⟨hal-04482015⟩
  • Stefan Escaida Navarro, Tanguy Navez, Olivier Goury, Luis Molina, Christian Duriez. An Open Source Design Optimization Toolbox Evaluated on a Soft Finger. 2023. ⟨hal-04082562⟩
  • Nina Ogrinc, Alexandre Kruszewski, Paul Chaillou, Philippe Saudemont, Chann Lagadec, et al.. Robot-Assisted SpiderMass for in vivo Real-Time Topography Mass Spectrometry Imaging. 2022. ⟨hal-03512929⟩
  • Olivier Goury, Sven Ahlinder. On efficient black box optimization of systems defined by 100 or more parameters. 2010. ⟨hal-01598044⟩

Rapports1 document

  • Christian Duriez. Mechanical compliance: from soft robot modeling theory to finite element method computation. RT-0521, INRIA - Centre Lille Nord Europe. 2024. ⟨hal-04469924⟩

Thèses13 documents

  • Tanguy Navez. Contributions to the Concept of Embodied Intelligence in Soft Robotics through Control and Design Co-Optimization. Computer Science [cs]. Université de Lille, 2024. English. ⟨NNT : ⟩. ⟨tel-04737444v2⟩
  • Etienne Ménager. Exploring state descriptions and soft robot simulations for learning and control. Computer science. Université de Lille, 2023. English. ⟨NNT : ⟩. ⟨tel-04393826⟩
  • Haihong Li. Cosserat-Based Modeling and Control of Slender Soft Robots. Automatic. Centrale Lille Institut, 2023. English. ⟨NNT : 2023CLIL0015⟩. ⟨tel-04195946⟩
  • Ke Wu. Design, Modeling, Optimization and Control of Compliant Mechanisms. Automatic. Centrale Lille Institut, 2023. English. ⟨NNT : 2023CLIL0008⟩. ⟨tel-04160409⟩
  • Shijie Li. Dynamic Tracking Control for Soft Robots : Data-Driven Modeling and Robust Control Design. Automatic. Université Polytechnique Hauts-de-France, 2023. English. ⟨NNT : 2023UPHF0011⟩. ⟨tel-04105148⟩
  • Félix Vanneste. Modeling of soft robots made of anisotropic mesostructured materials. Modeling and Simulation. Université de Lille 1, Sciences et Technologies; CRIStAL UMR 9189, 2022. English. ⟨NNT : ⟩. ⟨tel-03788950⟩
  • Pierre Schegg. Autonomous Catheter and Guidewire Navigation for Robotic Percutaneous Coronary Intervention. Computer Science [cs]. Inria Lille Nord Europe - Laboratoire CRIStAL - Université de Lille, 2022. English. ⟨NNT : ⟩. ⟨tel-04293261⟩
  • Walid Amehri. Workspace Estimation and Design Optimization of Soft Robots. Computer science. Centrale Lille Institut, 2022. English. ⟨NNT : 2022CLIL0005⟩. ⟨tel-04028186v2⟩
  • Maxime Thieffry. Model-Based Dynamic Control of Soft Robots. Automatic. Université Polytechnique des Hauts-de-France, 2019. English. ⟨NNT : ⟩. ⟨tel-02363267v3⟩
  • Zhongkai Zhang. Vision-based calibration, position control and force sensing for soft robots. Robotics [cs.RO]. Université de Lille, 2019. English. ⟨NNT : ⟩. ⟨tel-01990867⟩
  • Eulalie Coevoet. Optimization-based inverse model of soft robots, with contact handling. Automatic. Université de Lille 1, Sciences et Technologies, 2019. English. ⟨NNT : ⟩. ⟨tel-02446416⟩
  • Thor Morales Bieze. Contribution to the kinematic modeling and control of soft manipulators using computational mechanics. Robotics [cs.RO]. Université de Lille, 2017. English. ⟨NNT : ⟩. ⟨tel-03516545⟩
  • Julien Bosman. Physically-based 6-DoF Nodes Deformable Models: Application to Connective Tissues Simulation and Soft-Robots Control . Modeling and Simulation. Université Lille 1, 2015. English. ⟨NNT : ⟩. ⟨tel-01261423⟩

Habilitations à diriger des recherches2 documents

  • Jérémie Dequidt. Data-Driven Interactive Simulations for Clinical and Robotic Applications. Modeling and Simulation. Université de Lille, 2023. ⟨tel-04144574⟩
  • Alexandre Kruszewski. Are polytopic control design methods suitable for the next robotic control challenges?. Automatic. Université de Lille, 2017. ⟨tel-02395614⟩

Logiciel1 document


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