Personnel
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
XML PDF e-pub
PDF e-Pub


Bibliography

Major publications by the team in recent years
[1]
J. Allard, F. Faure, H. Courtecuisse, F. Falipou, C. Duriez, P. Kry.
Volume Contact Constraints at Arbitrary Resolution, in: ACM Transactions on Graphics, August 2010, vol. 29, no 3.
https://hal.inria.fr/inria-00502446
[2]
J. Bosman, T. M. Bieze, O. Lakhal, M. Sanz, R. Merzouki, C. Duriez.
Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras, in: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 4373-4378. [ DOI : 10.1109/ICRA.2015.7139803 ]
[3]
E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt, C. Duriez.
Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy, in: MICCAI - 17th International Conference on Medical Image Computing and Computer-Assisted Intervention, Boston, United States, September 2014.
https://hal.inria.fr/hal-01059667
[4]
H. Courtecuisse, J. Allard, P. Kerfriden, S. P. Bordas, S. Cotin, C. Duriez.
Real-time simulation of contact and cutting of heterogeneous soft-tissues, in: Medical image analysis, 2014, vol. 18, no 2, pp. 394–410.
[5]
C. Duriez, E. Coevoet, F. Largilliere, T. M. Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt.
Framework for online simulation of soft robots with optimization-based inverse model, in: SIMPAR: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, San Francisco, United States, Proceedings of SIMPAR 2016 conference, December 2016.
https://hal.inria.fr/hal-01425349
[6]
C. Duriez, F. Dubois, A. Kheddar, C. Andriot.
Realistic haptic rendering of interacting deformable objects in virtual environments, in: IEEE Transactions on Visualization and Computer Graphics, January 2006, vol. 12, no 1, pp. 36-47. [ DOI : 10.1109/TVCG.2006.13 ]
[7]
C. Duriez.
Control of elastic soft robots based on real-time finite element method, in: Robotics and Automation (ICRA), 2013 IEEE International Conference on, IEEE, 2013, pp. 3982–3987.
[8]
C. Duriez.
Real-time haptic simulation of medical procedures involving deformations and device-tissue interactions, Université des Sciences et Technologie de Lille - Lille I, February 2013.
https://tel.archives-ouvertes.fr/tel-00785118
[9]
C. Duriez.
Method for Controlling a Deformable Robot, and Related Module and Computer Program, December 2015, no US 20150360367.
http://www.freepatentsonline.com/y2015/0360367.html
[10]
N. Haouchine, J. Dequidt, I. Peterlik, E. Kerrien, M.-O. Berger, S. Cotin.
Image-guided Simulation of Heterogeneous Tissue Deformation For Augmented Reality during Hepatic Surgery, in: ISMAR - IEEE International Symposium on Mixed and Augmented Reality 2013, Adelaide, Australia, October 2013.
https://hal.inria.fr/hal-00842855
[11]
F. Largilliere, V. Verona, E. Coevoet, M. Sanz-Lopez, J. Dequidt, C. Duriez.
Real-time control of soft-robots using asynchronous finite element modeling, in: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 2550-2555. [ DOI : 10.1109/ICRA.2015.7139541 ]
[12]
F. Largillière, E. Coevoet, M. Sanz-Lopez, L. Grisoni, C. Duriez.
Stiffness rendering on soft tangible devices controlled through inverse FEM simulation, in: International Conference on Intelligent Robots and Systems - IROS 2016, Daejeon, South Korea, October 2016.
https://hal.inria.fr/hal-01386787
[13]
A. Talvas, M. Marchal, C. Duriez, M. A. Otaduy.
Aggregate Constraints for Virtual Manipulation with Soft Fingers, in: IEEE Transactions on Visualization and Computer Graphics, January 2015, vol. 21, no 4, 9 p.
https://hal.inria.fr/hal-01246562
[14]
Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere, C. Duriez.
Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method, in: IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016.
https://hal.inria.fr/hal-01370347
Publications of the year

Articles in International Peer-Reviewed Journals

[15]
F. J. Bejarano, G. Zheng.
Observability of Singular Systems with Commensurate Time-Delays and Neutral terms, in: Automatica, July 2017, vol. 85, pp. 462-467. [ DOI : 10.1016/j.automatica.2017.08.001 ]
https://hal.inria.fr/hal-01649585
[16]
F. J. Bejarano, G. Zheng.
Unknown Input Functional Observability of Descriptor Systems with Neutral and Distributed Delay Effects, in: Automatica, July 2017, vol. 85, pp. 186-192.
https://hal.inria.fr/hal-01649577
[17]
E. Coevoet, A. Escande, C. Duriez.
Optimization-Based Inverse Model of Soft Robots With Contact Handling, in: IEEE Robotics and Automation Letters, February 2017. [ DOI : 10.1109/LRA.2017.2669367 ]
https://hal.inria.fr/hal-01500912
[18]
E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez.
Software toolkit for modeling, simulation and control of soft robots, in: Advanced Robotics, November 2017, pp. 1-26.
https://hal.inria.fr/hal-01649355
[19]
Z. JIANG, J.-F. Witz, P. Lecomte-Grosbras, J. Dequidt, S. Cotin, C. Rubod, C. Duriez, M. Brieu.
Multiorgan Motion Tracking in Dynamic Magnetic Resonance Imaging for Evaluation of Pelvic System Mobility and Shear Strain, in: Strain, February 2017, vol. 53, no 2. [ DOI : 10.1111/str.12224 ]
https://hal.inria.fr/hal-01496177
[20]
E. Kerrien, A. Yureidini, J. Dequidt, C. Duriez, R. Anxionnat, S. Cotin.
Blood vessel modeling for interactive simulation of interventional neuroradiology procedures, in: Medical Image Analysis, January 2017, vol. 35, pp. 685 - 698. [ DOI : 10.1016/j.media.2016.10.003 ]
https://hal.inria.fr/hal-01390923
[21]
D.-Y. Liu, G. Zheng, D. Boutat, H.-R. Liu.
Non-asymptotic fractional order differentiator for a class of fractional order linear systems, in: Automatica, 2017.
https://hal.archives-ouvertes.fr/hal-01420910
[22]
Z. Shao, G. Zheng, D. Efimov, W. Perruquetti.
Identification, estimation and control for linear systems using measurements of higher order derivatives, in: Journal of Dynamic Systems, Measurement, and Control, April 2017, vol. 139, no 12, pp. 1-6. [ DOI : 10.1115/1.4037007 ]
https://hal.inria.fr/hal-01649537
[23]
R. Tami, D. Boutat, G. Zheng, F. Kratz, R. E. EL Gouri.
Rotor speed, load torque and parameters estimations of a permanent magnet synchronous motor using extended observer forms, in: IET Control Theory & Applications, January 2017.
https://hal.inria.fr/hal-01447955
[24]
L. Yu, G. Zheng, J.-P. Barbot.
Dynamical Sparse Recovery with Finite-time Convergence, in: IEEE Transactions on Signal Processing, August 2017, vol. 65, no 23, pp. 6146-6157. [ DOI : 10.1109/TSP.2017.2745468 ]
https://hal.inria.fr/hal-01649419
[25]
L. Yu, G. Zheng, D. Boutat.
Adaptive observer for simultaneous state and parameter estimations for an output depending normal form, in: Asian Journal of Control, January 2017, vol. 19, no 1, pp. 1-6.
https://hal.inria.fr/hal-01410734
[26]
G. Zheng, D. Boutat, H. Wang.
A nonlinear Luenberger-like observer for nonlinear singular systems, in: Automatica, July 2017, vol. 86, pp. 11-17. [ DOI : 10.1016/j.automatica.2017.08.018 ]
https://hal.inria.fr/hal-01649492
[27]
G. Zheng, A. Polyakov, A. Levant.
Delay estimation via sliding mode for nonlinear time-delay systems, in: Automatica, November 2017, pp. 1-8.
https://hal.inria.fr/hal-01649546
[28]
G. Zheng, H. Wang.
Finite-time estimation for linear time-delay systems via homogeneous method, in: International Journal of Control, September 2017, pp. 1-16. [ DOI : 10.1080/00207179.2017.1390255 ]
https://hal.inria.fr/hal-01649434

Invited Conferences

[29]
O. Goury, C. Duriez.
Projection-based model order reduction for real-time control of soft robots, in: XIV International Conference on Plasticity. Fundamentals and Applications, Barcelone, Spain, September 2017.
https://hal.inria.fr/hal-01649765

International Conferences with Proceedings

[30]
B. Abci, G. Zheng, D. Efimov, M. E. B. E. Najjar.
Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors, in: IFAC World Congress, Toulouse, France, July 2017.
https://hal.inria.fr/hal-01660112
[31]
F. J. Bejarano, G. Zheng, S. Li.
Observability analysis of linear singular time-delay systems, in: 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
https://hal.inria.fr/hal-01660101
[32]
K. A. Langueh, G. Zheng, T. Floquet.
Topology identification of network systems, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
https://hal.inria.fr/hal-01649395
[33]
K. Langueh, G. Zheng, T. Floquet.
Finite-time estimation for linear TDS via two coupled Luenberger observers, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
https://hal.inria.fr/hal-01649405
[34]
Y. Ma, V. Cocquempot, M. E. B. E. Najjar, A. Polyakov, G. Zheng.
Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults, in: IFAC World Congress, Toulouse, France, July 2017.
https://hal.inria.fr/hal-01660111
[35]
Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
Altitude Control for an Indoor Blimp Robot, in: IFAC World Congress, Toulouse, France, July 2017.
https://hal.inria.fr/hal-01660109
[36]
Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
Improved Altitude Control Method with Disturbance Compensation for an Indoor Blimp Robot, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
https://hal.inria.fr/hal-01660107
[37]
Z. Zhang, T. Morales Bieze, J. Dequidt, A. Kruszewski, C. Duriez.
Visual Servoing Control of Soft Robots based on Finite Element Model, in: IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 2017.
https://hal.archives-ouvertes.fr/hal-01618330
[38]
G. Zheng, F. J. Bejarano, S. Li.
Luenberger-like observer for linear singular system with commensurate delay, in: 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
https://hal.inria.fr/hal-01660102
[39]
G. Zheng, H. Wang.
Estimation of unknown input for linear systems with commensurate delays, in: IEEE CCC 2017, Dalian, China, July 2017.
https://hal.inria.fr/hal-01660099

Conferences without Proceedings

[40]
A. Rodríguez, E. Coevoet, C. Duriez.
Real-time simulation of hydraulic components for interactive control of soft robots, in: The 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapour, Singapore, May 2017.
https://hal.inria.fr/hal-01535810
[41]
M. Thieffry, A. Kruszewski, O. Goury, T.-M. Guerra, C. Duriez.
Dynamic Control of Soft Robots, in: IFAC World Congress, Toulouse, France, July 2017.
https://hal.archives-ouvertes.fr/hal-01558844