Project-Team Defrost
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
  • 1E. 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.
  • 3C. 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
  • 4C. 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.
  • 5O. 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
  • 6F. 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
  • 7T. 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
  • 8M. 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.
  • 9Z. 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

  • 10B.-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
  • 11O. 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
  • 12Z. 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
  • 13K. 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
  • 14M. 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
  • 15T. 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
  • 16M. 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
  • 17Y. 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
  • 18Z. 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
  • 19G. 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

  • 20F. 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
  • 21C. 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
  • 22S. 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
  • 23G. 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

  • 24M. 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

  • 25M. 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

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