Team, Visitors, External Collaborators
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
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Bibliography

Major publications by the team in recent years
[1]
E. Coevoet, A. Escande, C. Duriez.
Optimization-based inverse model of soft robots with contact handling, in: IEEE Robotics and Automation Letters, 2017, vol. 2, no 3, pp. 1413–1419.
[2]
Best Paper
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, 2017.
https://doi.org/10.1080/01691864.2017.1395362
[3]
C. Duriez, E. Coevoet, F. Largilliere, T. Morales 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
[4]
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.
[5]
O. Goury, C. Duriez.
Fast, generic and reliable control and simulation of soft robots using model order reduction, in: IEEE Transactions on Robotics, 2018.
https://hal.archives-ouvertes.fr/hal-01834483
[6]
F. Largilliere, 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
[7]
T. Morales Bieze, F. Largilliere, A. Kruszewski, Z. Zhang, R. Merzouki, C. Duriez.
FEM-based kinematics and closed-loop control of soft, continuum manipulators, in: soft robotics, 2018.
https://hal.archives-ouvertes.fr/hal-01745625
[8]
M. Thieffry, A. Kruszewski, C. Duriez, T.-M. Guerra.
Control Design for Soft Robots based on Reduced Order Model, in: IEEE Robotics and Automation Letters, 2018.
[9]
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

[10]
B.-H. Du, A. Polyakov, G. Zheng, Q. Quan.
Quadrotor trajectory tracking by using fixed-time differentiator, in: International Journal of Control, April 2018. [ DOI : 10.1080/00207179.2018.1462534 ]
https://hal.inria.fr/hal-01947365
[11]
O. Goury, C. Duriez.
Fast, generic and reliable control and simulation of soft robots using model order reduction, in: IEEE Transactions on Robotics, 2018.
https://hal.archives-ouvertes.fr/hal-01834483
[12]
Z. Kader, G. Zheng, J.-P. Barbot.
Finite-time and asymptotic left inversion of nonlinear time-delay systems, in: Automatica, April 2018.
https://hal.archives-ouvertes.fr/hal-01781561
[13]
K. Langueh, G. Zheng, T. Floquet.
Impulsive fixed-time observer for linear time-delay systems, in: Journal of The Franklin Institute, May 2018, vol. 355, no 7, pp. 3354 - 3366. [ DOI : 10.1016/j.jfranklin.2018.02.019 ]
https://hal.archives-ouvertes.fr/hal-01932968
[14]
M. Mboup, C. Join, M. Fliess, Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
Comments on "Differentiator application in altitude control for an indoor blimp robot", in: International Journal of Control, 2019. [ DOI : 10.1080/00207179.2018.1500040 ]
https://hal.inria.fr/hal-01832874
[15]
T. Morales Bieze, F. Largilliere, A. Kruszewski, Z. Zhang, R. Merzouki, C. Duriez.
FEM-based kinematics and closed-loop control of soft, continuum manipulators, in: soft robotics, 2018.
https://hal.archives-ouvertes.fr/hal-01745625
[16]
M. Thieffry, A. Kruszewski, C. Duriez, T.-M. Guerra.
Control Design for Soft Robots based on Reduced Order Model, in: IEEE Robotics and Automation Letters, January 2019.
https://hal.archives-ouvertes.fr/hal-01901031
[17]
Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
Differentiator application in altitude control for an indoor blimp robot, in: International Journal of Control, March 2018, vol. 91, no 9, pp. 2121 - 2130. [ DOI : 10.1080/00207179.2018.1441549 ]
https://hal.inria.fr/hal-01889244
[18]
Z. Zhang, J. Dequidt, C. Duriez.
Vision-Based Sensing of External Forces Acting on Soft Robots Using Finite Element Method, in: IEEE Robotics and Automation Letters, February 2018, vol. 3, no 3, pp. 1529 - 1536. [ DOI : 10.1109/LRA.2018.2800781 ]
https://hal.inria.fr/hal-01720645
[19]
G. Zheng, A. Polyakov, A. Levant.
Delay estimation via sliding mode for nonlinear time-delay systems, in: Automatica, 2018, vol. 89, pp. 266-273.
https://hal.inria.fr/hal-01649546

International Conferences with Proceedings

[20]
F. Ficuciello, A. Migliozzi, E. Coevoet, A. Petit, C. Duriez.
FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects, in: IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 2018.
https://hal.inria.fr/hal-01889783
[21]
C. Gomez, F. J. Bejarano, G. Zheng, T. Floquet.
A class of observers for the observable part of linear systems with commensurate delays, in: CNCA 2018 - Congreso Nacional de Control Automático, San Luis Potosi, Mexico, October 2018.
https://hal.inria.fr/hal-01947394
[22]
S. Nateghi, Y. Shtessel, J.-P. Barbot, G. Zheng, L. Yu.
Cyber-Attack Reconstruction via Sliding Mode Differentiation and Sparse Recovery Algorithm: Electrical Power Networks Application, in: VSS 2018 - 15th International Workshop on Variable Structure Systems, Graz, Austria, July 2018.
https://hal.inria.fr/hal-01947385
[23]
G. Zheng, S. Li.
Impulsive Observer for Linear Singular Time-Delay Systems, in: CCC2018 - Proceedings of the 37th Chinese Control Conference, Wuhan, China, July 2018.
https://hal.inria.fr/hal-01947376

Conferences without Proceedings

[24]
M. Thieffry, A. Kruszewski, T.-M. Guerra, C. Duriez.
Reduced Order Control of Soft Robots with Guaranteed Stability, in: European Control Conference ECC18, Limassol, Cyprus, June 2018.
https://hal.archives-ouvertes.fr/hal-01747433

Other Publications

[25]
M. A. ElDiwiny, E. Cattan, C. Duriez.
How To Design Your Polymer Artificial Muscle Actuator/ Sensor?, May 2018, pp. 1-2, ICRA 2018 - IEEE International Conference on Robotics and Automation, Poster.
https://hal.archives-ouvertes.fr/hal-01798709