5.1.1 Traveling

In terms of traveling, we are following the Inria general travel policy. We are also adopting a frontrunner approach and encourage team members to adopt the more ambitious flyless guide produced by the Inria MakeSenS initiative.

Currently we:

• favor visio-conferencing whenever possible and beneficial,
• choose alternative modes of transportation to flying. Our analysis shows that destination reachable by a train travel bellow 8h allows to reach maximum efficiency in GES emission reduction while still being manageable if the alternative is comfortable high-speed train.
• strategically select the workshop and conferences location we attend to reach the best scientific impact, scientific community building while reducing the transportation footprint.

5.1.2 Daily commuting

With other laboratories from the University of Lille, the team is actively promoting for more sustainable commuting practices and is participating to local initiatives or national ones like being part of the Inria AGOS's team at the national challenge MaiAVélo. In 2024, all Inria centers participated to this event as well as a continuously increased amount of research institutions in France (universities, research institutes, cnrs). In addition, Damien Marchal, member of the team is co-animator of the mobility workgroup for University of Lille. His activities include support for the statistical analysis updates of the University of Lille commuting practices and commuting plans. In 2023 he took part, as a coordinator of the University of Lille workgroups in charge of proposing a sustainability roadmap. The resulting document was voted in June 2023. 2024 and 2025 should be the begining of its implementation.

Finally we also make sure that the team members are informed of the transportation allowances at Inria and favoring sustainability among which the "Forfait Mobilité Durable" and the public transportation allowance.

5.1.3 Sharing objectives externally

The team, not only encourages its members to adhere to the highest practice standard but also to adopt a frontrunner position. This includes sharing our objectives and ambitions with peers and research community (eg: having one slide related to footprint in the team presentations slides). In 2023 and 2024, the CRIStAL laboratory organized several sessions "Fresque du climat" and "Fresque du Numérique" to its members and EP's. In 2023, Damien Marchal, from our team, set up a new master course at University of Lille for computer science students. This master is titled "Enjeux Environmentaux et Société" (society and sustainability). After a general introduction to climate, biodiversity, energy and resources issues, in-depth presentations, strongly relying on Inria members' expertise, have been done including:

• D. Marchal (DEFROST): Climate modeling and simulation.
• D. Marchal (DEFROST): Ghg accounting.
• A. Luxey (SPIRALS): ACV analysis for strategic decision taking.
• S. Cerf (SPIRALS): ACV analysis for strategic decision taking.
• R. Rouvoy (SPIRALS): measuring the environmental impacte of software and IT.
• D. Debarbieux (Norsys, alumni of LINKS): .
• P. Marquet (University of Lille): Good practices as an IT manager and EcoInfo.

These courses were continued in 2024.

7.1.1 SoftRobots

• Name:
  SoftRobots plugin for Sofa
• Keywords:
  Numerical simulations, Problem inverse, Soft robotics
• Functional Description:
  Modelling, simulation and control of soft robots. This plugin allows the modeling of deformable robots in the Sofa platform. It allows the modeling of different actuators, such as cable, pneumatic pressure, hydraulics and other simpler types of actuation. It also contains useful tools for animation design or communication with the robot. Coupled with the SoftRobots.Inverse plugin, it also allows the control of these robots. More information can be found on the dedicated website.
• URL:
  https://­project.­inria.­fr/­softrobot/
• Publication:
  hal-01649355
• Contact:
  Christian Duriez
• Participants:
  Christian Duriez, Olivier Goury, Jérémie Dequidt, Damien Marchal, Eulalie Coevoet, Felix Vanneste
• Partner:
  CRIStAL

7.1.2 Model Order Reduction Plugin for SOFA

• Name:
  Model Order Reduction Plugin for SOFA
• Keywords:
  Model Order Reduction, Sofa, Finite element modelling
• Scientific Description:
  This plugin allows speed-up of SOFA simulations by providing tools to create a reduced version of the SOFA simulation that runs at much higher rates but remains accurate. Starting with a snapshot of the object deformations on a high-dimensional Finite Element mesh, Proper Orthogonal Decomposition (POD) is used to compute a reduced basis of small dimension representing correctly all the possible deformations of the object. The original system describing the object motion is then greatly reduced. To keep numerical efficiency, a hyper-reduction method is used to speed-up the construction of the reduced system.
• Functional Description:
  This plugin allows to dramatically reduce computational time in mechanical simulation in the SOFA framework. A reduced simulation, of much smaller dimension but still accurate is created in an automatic way by the plugin. Building the reduced model may take time, but this operation is made once only. The user can then benefit from a reduced and interactive version of his/her simulation without significant loss of accuracy.
• Release Contributions:
  This is the first version of the plugin.
• URL:
  https://­project.­inria.­fr/­modelorderreduction/
• Publication:
  hal-01834483
• Contact:
  Olivier Goury
• Participants:
  Olivier Goury, Felix Vanneste, Christian Duriez, Eulalie Coevoet

7.1.3 SoftRobots.Inverse

• Name:
  SoftRobots.Inverse
• Keywords:
  Sofa, SoftRobots
• Scientific Description:
  This plugin implements a method to compute the inverse model of a robot in its environment. The input of the method is the desired position of the effector. The output is the force or the motion that needs to be applied to the actuators in order to minimize the distance with the effector position. This is found by minimizing the constraint equation using Quadratic Programming (QP), i.e. minimizing the violation of the defined constraints.
• Functional Description:
  This plugin builds on the plugin SoftRobots. Inside the plugin, there are some constraint components that are used to describe the robot (effectors, actuators, sensors). An optimisation algorithm is provided to find the efforts to put on actuators in order to place the robot in the closest possible configuration to the one described by “effectors”, or to a state described by “sensors”. This method used to control the soft robots in the task space is patented.
• URL:
  https://­project.­inria.­fr/­softrobot
• Publications:
  hal-01425349, hal-01649355
• Contact:
  Christian Duriez
• Participants:
  Christian Duriez, Eulalie Coevoet
• Partner:
  CRIStAL

7.1.4 SofaPython3

• Name:
  SofaPython3
• Keywords:
  Python, Numerical simulations, Sofa
• Functional Description:
  This plugin allows to use Sofa as a library from any python3 program. It also allows to write new mechanical component for a Sofa simulation in python3.
• Release Contributions:
  Python3 and SOFA are meeting in one plugin: SofaPython3. In 2020, the integration of this plugin within SOFA opens up new perspectives. Not only can a SOFA simulation be described using a Python script with the embedded Python interpreter, but one or several SOFA instances can now created from a Python environment. Even more powerful, you can create new components (e.g. forcefields) in Python using the bindings provided in the plugin. Python-scripted simulations have no limit anymore!
• URL:
  https://­sofapython3.­readthedocs.­io/­en/­latest/
• Contact:
  Hugo Talbot
• Participants:
  Jean-Nicolas Brunet, Damien Marchal, Bruno Marques, Thierry Gaugry, Frédérick Roy, Guillaume Paran, Hugo Talbot
• Partner:
  CRIStAL

7.1.5 Cosserat plugin

• Keywords:
  Physical simulation, Finite element modelling, Soft robotics, Needle insertion, Frictional contact
• Functional Description:

  An open-source plugin, designed to be compatible with the Sofa framework, facilitates the simulation of 1D objects. Specifically, it caters to the modeling of both rigid and flexible 1D entities, like rods, wires or needles, using the Cosserat beam theory. In this context, we have outlined a range of potential applications for this plugin. If you wish to explore its functionality, you have the flexibility to construct scenes using Python or XML, or you can take it a step further by developing new C++ components. We also welcome contributions from the community to enhance and expand the capabilities of this plugin.

  ## Description related to Soft-body modeling

  The Cosserat model has found applications in the realm of continuum robotics, particularly for simulating the deformation of robot bodies with geometries and mechanical properties akin to rods. This model aligns closely with the dynamic deformation patterns exhibited by soft manipulators, as it can effectively replicate nonlinear deformations encompassing bending, torsion, extension, and shearing.

  One distinctive feature of Cosserat's theory, within the domain of continuous media mechanics, lies in its conceptualization: it views each material point of an object as a rigid body with six degrees of freedom (three translations and three rotations). In contrast, many other models in continuum media mechanics tend to treat material points as particles with only three translation degrees of freedom.

  When modeling linear structures, this framework enables the creation of a structure closely resembling articulated solids, consisting of a series of rigid bodies whose relative positions are defined by their strain states. Consequently, this model serves as a versatile tool for modeling and controlling a variety of systems, including concentric tube robots, continuum robots driven by cables, or pneumatic soft robots with constant cross-sections.

  Go into theoretical part of the plugin [Theory](docs/text/Theory.md)

  Follow the tutorial : [cosserat_tutorial](docs/text/cosserat_tutorial.md)

• URL:
  https://­www.­sofa-framework.­org/­applications/­plugins/­cosserat-beam-cable-needle/
• Publication:
  hal-03192168
• Contact:
  Christian Duriez

7.1.6 SofaGym

• Keywords:
  Plugin SOFA, Reinforcement learning, SoftRobots
• Functional Description:
  Software toolkit to easily create an OpenAI Gym environment out of any SOFA scene. The toolkit provides an API based on the standard OpenAI Gym API, allowing to train classical Reinforcement Learning or Planning algorithms.The toolkit also comprises example scenes based on the SoftRobots plugin for SOFA to illustrate how to include SOFA simulations and train learning algorithms on them.
• URL:
  https://­github.­com/­SofaDefrost/­SofaGym
• Publication:
  hal-03778189
• Contact:
  Christian Duriez
• Partner:
  CRIStAL

7.1.7 SofaCUDALinearSolver

• Keywords:
  Plugin SOFA, Sofa, GPU, CUDA, Linear Systems Solver
• Functional Description:
  A plugin for SOFA providing direct linear solver on GPU. The implementation is based on CUDA and the cuSolver library.
• URL:
  https://­www.­sofa-framework.­org/­applications/­plugins/­cuda-gpu-computing/
• Contact:
  Alexandre Bilger

7.1.8 SofaGLFW

• Name:
  Simple GUI for SOFA, based on GLFW
• Keywords:
  GUI (Graphical User Interface), Plugin SOFA, Sofa
• Functional Description:

  Integration of GLFW is automatic (automatic fetching and integration with CMake), and linked statically.

  This GUI is launchable with the standard runSofa, or can be used with a (provided) stand-alone executable runSofaGLFW (which needs much less dependencies than runSofa)

  Lastly, this GUI was designed to support multiple windows in the same time and multiple simulations.

  By default, SofaGLFW does not show any user interface. Only the keyboard allows limited interactions with the simulation. That is why a user interface based on Dear ImGui is provided.

  Integration of Dear ImGui is automatic (automatic fetching and integration with CMake), and linked statically.

• URL:
  https://­www.­sofa-framework.­org/­applications/­plugins/­modern-gui-using-glfw/
• Contact:
  Alexandre Bilger

7.1.9 Python Sensor Characterization Plateform

• Name:
  Python Sensor Characterization Plateform
• Keywords:
  Python, 3D printing, Sensor Calibration
• Functional Description:
  This platform is designed to synchronize the displacement of 3D Printer with the sensor measurement,and evaluate the performance of the sensors by calculating characteristics such as the hysterisis,linearity, and plotting the calibration curves of sensors.
• URL:
  https://­github.­com/­SofaDefrost/­Sensor_Characterization_Plateform
• Contact:
  Yehya Sharif

7.1.10 STLIB

• Name:
  SOFA Template Library
• Keyword:
  Plugin SOFA
• Functional Description:
  Sofa scenes emplates. Contains common scene patterns used regularly to make the writing of scene with Sofa easy. The templates should be compatible with .pyscn and PSL scenes. The library also contains cool utility functions we should always consider to use.
• URL:
  https://­stlib.­readthedocs.­io/
• Contact:
  Damien Marchal
• Partner:
  CRIStAL

7.1.11 Python 3D Toolbox for Realsense

• Keywords:
  Mesh, Point cloud, 3D
• Functional Description:
  This repository provides a set of Python scripts useful for 3D file processing, particularly for files obtained using Realsense depth cameras. It includes an acquisition_realsense.py file for capturing and recording with a Realsense camera, as well as a functions folder containing a collection of processing functions (point cloud, ply, pixels...) and a subfolder utils containing some other useful functions.
• URL:
  https://­github.­com/­SofaDefrost/­Python_3D_Toolbox_for_Realsense
• Contact:
  Paul Chaillou
• Partner:
  CRIStAL

7.1.12 SoftRobots.DesignOptimization

• Keywords:
  Finite element modelling, Shape optimization, Soft robotics
• Functional Description:
  This software toolkit contains components for exploring parametric design of any SOFA scene, and is more specifically targeted at soft robots applications. We provide a unified framework for implementing a single parametric Sofa scene and use it both for multi-objective design optimization and model-based control.
• URL:
  https://­www.­sofa-framework.­org/­applications/­plugins/­design-optimization/
• Publication:
  hal-04082562
• Contact:
  Tanguy Navez
• Partner:
  CRIStAL

7.1.13 SofaViscoElastic

• Name:
  SofaViscoElastic
• Keyword:
  SoftRobots
• Functional Description:
  Implements the fundamental linear viscoelastic constitutive laws applied to tetrahedral meshes for SOFA. Viscoelasticity is a property of elastomeric materials that influences their mechanical behavior under dynamic conditions. In fact, viscoelastic constitutive equations are dependent on the stress/strain rate. At low stress/strain rates, a viscoelastic material behaves like a viscous liquid-like material, while at high stress/strain rates, the same material behaves like a Hookean solid. In fact, the simplest viscoelastic models are:
• URL:
  https://­github.­com/­SofaDefrost/­SofaViscoElastic
• Contact:
  Christian Duriez
• Partner:
  CRIStAL

7.1.14 CondensedFEMModel

• Name:
  Soft Robots Condensed FEM Model for Control and Design Optimization
• Keyword:
  SoftRobots
• Functional Description:
  This plugin for the open-source simulation framework SOFA contains components for learning a condensed FEM model from a soft robot SOFA scene. We also provide an implementation for leveraging the learned model for control, embedded control, calibration and design optimization applications.
• URL:
  https://­github.­com/­SofaDefrost/­CondensedFEMModel
• Publication:
  hal-04167863
• Contact:
  Christian Duriez

7.1.15 SOFA

• Name:
  Simulation Open Framework Architecture
• Keywords:
  Real time, Multi-physics simulation, Medical applications
• Functional Description:
  SOFA is an Open Source framework primarily targeted at real-time simulation, with an emphasis on medical simulation. It is mostly intended for the research community to help develop new algorithms, but can also be used as an efficient prototyping tool. Based on an advanced software architecture, it allows the creation of complex and evolving simulations by combining new algorithms with algorithms already included in SOFA, the modification of most parameters of the simulation (deformable behavior, surface representation, solver, constraints, collision algorithm etc.) by simply editing an XML file, the building of complex models from simpler ones using a scene-graph description, the efficient simulation of the dynamics of interacting objects using abstract equation solvers, the reuse and easy comparison of a variety of available methods.
• News of the Year:
  The new version v20.06 has been released including new elements on SoftRobots + ModelOrderReduction integration, in addition to an improved architecture and lots of cleans and bugfixes.
• URL:
  http://­www.­sofa-framework.­org
• Publication:
  hal-00681539
• Contact:
  Hugo Talbot
• Participants:
  Christian Duriez, François Faure, Hervé Delingette, Stephane Cotin, Hugo Talbot, Maud Marchal
• Partners:
  IGG, CRIStAL

7.2.1 Mobile Trunk

Participants: Alexandre Kruszewski, Damien Marchal, Fabrice Dedo, Antoine Alessandrini.

In the context of the SOMOROB project, we are building a platform composed of a 4-wheels differential mobile robot SummitXL combined with our Echelon deformable trunk.

7.2.2 Virtual Twins

Participants: Christian Duriez, Eulalie Coevoet, Damien Marchal, Fabrice Dedo, Gérald Dherbomez.

Within the nationwide TIRREX Equipex+, the DEFROST team is coordinating the setting up of a virtual desktop solutions to host virtual twins of the physical robotics platform. An experiment was conducted on such a service at the CRISTAL laboratory. The experiment was conclusive, and laboratory allocated a credit line for a deployment in 2023. In the meantime, members of the team have already made several virtual twins demonstrating the capabilities of our simulation framework. The twins are all using SOFA and SoftRobots plugin but are exposed as ROS node so they can be controller in a similar way as the real robots they are modeling.

Endoscope twin

The system is a modular and motorized endoscopy platform consisting of two parts: the patient system and the remote manipulation console. The first part, the patient system, consists of a motorized flexible endoscope, and two motorized flexible surgical instruments, mounted on a mobile platform. The second part, the manipulator console, is a dedicated mobile console used to remotely manipulate the patient system. The main intended application is endoscopic dissection of the submucosa (ESD) in colorectal localization. The digital twin models the whole system using SOFA and the plugins BeamAdapter, SoftRobots, and SofaPython3. The twin is open-source and available at Endoscopy repository.

Show image description

Endoscopic twin in a picking task.

Caroca twin

The system is a large cable-driven parallel robot (CDPR). It is a six degrees of freedom suspended CDPR with eight cables. The current version of the digital twin is a work in progress, it only models a part of the system ; the cables and the coupling with the manipulated object. It uses SOFA and the plugins BeamAdapter, Cosserat and SofaPython3. The twin is open-source and available at Caroca repository.

Show image description

A large cable-driven parallel robot (CDPR) feature six degrees of freedom suspended CDPR with eight cables.

Micro Parallel twin

The system is a small parallel continuum robot ; it is composed of four legs connected to a gripper. The digital twin models the whole system using SOFA and the plugins BeamAdapter, SoftRobots, and SofaPython3. The twin is open-source and available at MicroParallel repository.

Show image description

Virtual twin of a the microgripper.

MobileTrunk twin

Within the SOMOROB project aforementioned we are fabricating an hardware plateform of a mobile robot with a deformable trunk. A virtual twin for this robot has been made in SOFA. The model of the 4 wheels differential mobile robot follows the same control as the physical one and the Echelon deformable trunk is controlled using SoftRobots.Inverse. The twin is open-source and available at MobileTrunk repository.

Show image description

Image showing an interactive four wheel robots with a deformable trunk.

9.1.1 Caranx Medical

Caranx Medical is a startup company focusing on surgical robotics. Their aim is to revolutionize surgery with novel ground-breaking surgical robots. We have started a PhD thesis in Feb 2022 through the CIFRE program. The phD is focused on the use of vine robots in surgical robotics. We are working on a new model for everything robots. We had a paper accepted to Robosoft this year

Participants: Christian Duriez, Jeremie Dequidt, Flavie Przybylski.

10.1.1 Visits of international scientists

10.2.1 Horizon Europe

10.2.2 H2020 projects

ANR DOMINANTS:

Participants: Gang Zheng.

Dexterity-oriented methodology in optimized design and control of soft aerial manipulators. This is a 4-year project, supported by the ANR (French National Agency for Research) in the framework of PRCI, with administrative start date being 1 October 2024. The DOMINANTS project aims to develop a novel methodology for optimized design and fast control of SAM for the purpose of increasing dexterity so that it can reach a larger workspace with the ability to quickly grasp various types of static and dynamic objects in a complex and unstructured environment.

ANR ACCESS:

Participants: Yinoussa Adagolodjo, Christian Duriez, Alexandre Kruszewski, Gang Zheng.

Actively controlled electrode for soft surgery. This is a 42-month project, supported by the ANR (French National Agency for Research) in the framework of PRCE, starting from 1 November 2024. ACCESS is the continuation of the ROBOCOP project, and it aims to create an innovative biocompatible thin film electrode array (TFEA) integrating soft actuators to be coupled with the implanted stimulator, as well as the innovative controlled/automatic robotic insertion of this TFEA into the cochlea, where the surrounding anatomical structure will be considered. ACCESS project will help the surgeon, guarantee more effective implantation by reducing insertion trauma and achieving better hearing performance after surgery.

ANR SPECULAR:

Participants: Olivier Goury, Christian Duriez.

Radiofrequency ablation of liver tumors has become the procedure of choice for many patients. However, despite their many advantages, these percutaneous procedures require advanced skills from the practitioner, particularly for interventions involving soft and mobile organs such as the liver. The aim of this project is to develop a comprehensive virtual reality training system for these procedures. To achieve this, it is necessary to simulate the interactions between the needle and virtual organs fast and realistically, and to reproduce an immersive operating room environment. This includes realistic rendering, medical image generation and haptic feedback. The results of this project will accelerate the training of these alternative approaches, and could change the standard of treatment towards much less cumbersome and traumatic approaches for patients.

ANR ROBOCOP:

Participants: Lingxiao Xun, Yinoussa Adagolodjo, Olivier Goury, Christian Duriez, Alexandre Kruszewski, Gang Zheng.

Robotization of Cochlear implant. This is a 5-year project, supported by the ANR (French National Agency for Research) in the framework of PRCE, starting from 1 October 2019 until 30 September 2024. ROBOCOP aims at creating a new prototype of cochlear implant, and robotize (i.e. actuate and control) its insertion process to facilitate the work of surgeon, to increase the success ratio, and to decrease the probability of trauma.

ANR COSSEROOTS:

Participants: Yinoussa Adagolodjo, Christian Duriez, Quentin Peyron, Gang Zheng.

Cosserat Rod Theory for Slender Robots. This is a 4 year project, supported by the ANR (French National Agency for Research) in the framework of PRC, starting from 1 November 2020 until 31 October 2024. The objective of COSSEROOTS project is to systematically investigate the relative parameterization modeling technique in order to create for the first time a toolbox dedicated to modeling and control of slender, flexible, continuous, bio-inspired robots that can undergo large, controlled deformations 7.1.5. See the associated GitHub project.

ANR Equipex+ TIRREX:

Participants: Christian Duriez, Damien Marchal, Gang Zheng.

TIRREX project aims to develop new emblematic platforms in robotics with a national coordination for their access and development. The project brings together all the major players in French academic research in robotics (CNRS, INRIA, CEA, INRAE) with 19 partners. It is structured around 6 thematic axes: Humanoid Robotics, XXL Robotics, Micro-Nano Robotics, Autonomous Terrestrial Robotics, Aerial Robotics and Medical Robotics, and transversal axes: Prototyping & Design, Manipulation, and open Infrastructure. Christian Duriez is co-responsible of the axis open Infrastructure, in particular for the development of digital twins.

PEPR-O2R:

Participants: Christian Duriez, Quentin Peyron, Jeremie Dequidt.

O2R is a national initiative that involves french major laboratories in robotics and will last 8 years starting from Jan. 2024. The focus of this ambitious program is to investigate three scientific challenges: Understanding determinants for social adaptation of robots and their links with robotic decisions and design choices; Creating integrated robot hardware and software architectures, to enable embodied intelligence and robustness faced with the complexity of their exercise and use environments; Endowing robots with capabilities for fluid interaction with humans, to favor social integration. Within this program, DEFROST is very active through two specific actions: the first one being material, architecture and embodied intelligence and the second one about simulation tools for multiphysics, multiscale robots.

CPER RITMEA:

Participants: Christian Duriez, Alexandre Kruszewski, Gang Zheng.

Design and development of soft upper limb exoskeletons. This is a 2-year project, co-financed by the region. The objective of this project is to design passive/active soft upper limb exoskeletons with the aim of simplifying the daily activities of the patient.

11.1.1 Scientific events: organisation

11.1.2 Scientific events: selection

11.1.3 Journal

11.1.4 Invited talks

Yinoussa Adagolodjo:

• Hong Kong Forum on Robotics and AI : March 26th – March 29th (CAIR)

  Title of the presentation: Exploring the Frontiers of Deformable Robotics: from Physics-based Modeling and Real-time Simulation to Control and Contacts Handling.

• The Journées Scientifiques Inria Chile 2024 : Dec 4th – Dec 6th (Journées scientifiques 2024)

  Title of the presentation: Bridging the Gap: From Biomechanical Simulations to Adaptive Surgical Robotics.

• The Latin American Summer School on Robotics : March 9th – March 13th (LACORO)

  Title of the presentation: Bridging the Gap: From Biomechanical Simulations to Adaptive Surgical Robotics.

Christian Duriez :

• Workshop at Eurohaptics Conference Title: Modeling, Sensing and Control of Deformable Robot: Application for Haptic Device.
• Workshop ICRATitle: Simulation and model-based control of continuum manipulators.
• Inauguration PEPR O2RTitle: Robotique souple, bio-inspiration et relation à l'humain.
• IMSD Keynote & SOFA America WorkshopTitle: Control of soft robots by real-time mechanical computation of their deformable structure.
• HCERES evaluation of CRIStAL : Title: Contrôle des robots souples par calcul mécanique en temps réel de leur structure déformable.
• Semaine de la robotique à Nancy : Title : Quand la robotique devient souple (bientôt en ligne).

11.1.5 Scientific expertise

• Gang Zheng is member of the evaluation committee of CSS-MISTI of INRAE.
• Christian Duriez was evaluator for ERC proposals.

11.1.6 Research administration

• Gang Zheng is member of Ecole Doctorale MADIS in the domain of AGITSI.
• Gang Zheng is member of CER of Inria Lille.
• Damien Marchal was head of the Jury of the nationwide Concours Interne CNRS (BAP-E, IE).
• Damien Marchal is elected member of the "commission recherche" at the University of Lille Faculty of Science.
• Christian Duriez is co-director of the PEPR O2R.

11.2.1 Teaching

11.2.2 Supervision

PhD students:

• Paul Chaillou, Développement d'un système de robotique souple permettant de guider le système d'analyse moléculaire in vivo temps-réel SpiderMass pour l'aide à la chirurgie des cancers (SnakeMass), supervised by I. Fournier, A. Kruszewski and C. Duriez.
• Tanguy Navez, Contributions to the Concept of Embodied Intelligence in Soft Robotics through Control and Design Co-Optimization 32, supervised by O. Goury and C. Duriez.
• Luis Maldonado, Eco-design of parallel continuum robots using bio-sourced raw materials, supervised by Q.Peyron, S. Briot and C. Duriez.
• Antoine Alessandrini, Design of new control methods to maintain compliance of deformable robots while giving them good performance, supervised by L. Hetel, A. Kruszewski and C. Duriez.
• Weize Liu, Design and control of a flexible endoscope, supervised by G. Zheng, I. Fournier and Y. Adagolodjo.
• Xin Li, Design, modeling and control of origami mechanisms, supervised by G. Zheng and F. Boyer.
• Azouaou Ouyoucef, Control of soft parallel robots, supervised by G. Zheng, Q. Peyron and F. Boyer.
• Agneyan Dileep, Fault-diagnosis and lifetime prognosis of soft robots, supervised by Q. Peyron and V. Cocquempot.
• Congjian Gao, Design of parallel continuum robots with simple input ouput laws, supervised by Q. Peyron and S. Briot.
• Lingxiao Xun, Modeling and control of active cochlear implant 33, supervised by A. Kruszewski and G. Zheng.
• Yiru Guo, Design and analysis of flexible mechanisms, supervised by G. Zheng and A. Polyakov.
• Zitong Zhang, Control of rigid-flexible coupled mechanism, supervised by G. Zheng and A. Polyakov.
• Sizhe Tian, Simulation of needle insertion into a bio-inspired active prostate phantom: Application to biopsy and brachytherapy, supervised by J. Dequidt and Y. Adagolodjo.
• Flavie Przybylski, Simulation of eversion robots, supervised by J. Dequidt and C. Duriez.

Apprentices:

• Coralie Sion (Fives ECL - Ronchin),
• Nicolas Deplanque (Fives ECL - Ronchin),
• Sofian Mertens and Hamed Rezapoor (ArcelorMittal France)

are supervised by Y. Adagolodjo.

Interns:

• Wei Ziyi, Expérimentation de mécanismes de bases sur des matériaux anisotropes, supervised by T. Navez and Y. Adagolodjo.
• Antoine Alessandrini, Soft robot force-position control, supervised by A. Kruszewski and C. Duriez.
• Yoan Arnaud, Soft robot modeling, supervised by Q. Peyron.

11.2.3 Juries

• Gang Zheng is the reviewer for the PhD of Oscar F. Gallardo Luna defended on December 17th 2024 at University Polytechnique Hauts-de-France.
• Yinoussa was a jury member of the individual thesis monitoring committee of Mr. Thuc Lang Ha (Computer Assisted Needle Therapies).
• Alexandre Kruszewski reviewed the PhD thesis of N. Testard, defended on October 2nd 2024 at Centrale Nantes.
• Christian Duriez reviewed the PhD thesis of Azad Artinian defended on Februrary 1 at Sorbonne Université.
• Christian Duriez reviewed the PhD thesis of Nariman Khaledian defended on June 12 at Université de Lorraine.
• Christian Duriez reviewed the PhD thesis of Lionel Fliegans defended on September 17 at Ecole des Mines Saint-Etienne at Campus Aix-Marseille-Provence.
• Christian Duriez reviewed the PhD thesis of Andrea Gotelli defended on December 9 at Ecole Centrale de Nantes.
• Christian Duriez was the commitee president for the PhD defense of Loïc Mosser, on June 24, at University of Strasbourg.
• Christian Duriez was the commitee president for the PhD defense of Quentin Boyer, on December 6, at Université Grenoble Alpes.
• Christian Duriez was Jury member of the PhD defense of Pasquale Ferrentino on July 2 at Vrije University of Brussels, Belgium.
• Christian Duriez reviewed the Habilitation thesis (HDR) of Vincent Lebastard defended on January 2 at IMT Atlantique.
• Christian Duriez was Jury member of the Habilitation defense (HDR) of Redwan Dahmouche on June 27 at Université Bourgogne Franche-Comté (site FEMTO Besançon).
• Christian Duriez was a member of the committee for a full professor position in (soft) robotics at Sorbonne University.

International journals

• 13 articleM.Min Li, A.Andrey Polyakov and G.Gang Zheng. On Generalized Homogeneous Leader-following Consensus Control for Multi-agent Systems.IEEE Transactions on Control of Network Systems1112024, 558-568HALDOI
• 14 articleH.Haihong Li, L.Lingxiao Xun and G.Gang Zheng. Global Control of Soft Manipulator by Unifying Cosserat and Neural Network.IEEE Transactions on Industrial Electronics7192024, 10944-10954HALDOI
• 15 articleT.Tanguy Navez, E.Etienne Ménager, P.Paul Chaillou, O.Olivier Goury, A.Alexandre Kruszewski and C.Christian Duriez. Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model.IEEE Transactions on Robotics2025. In press. HAL
• 16 articleA.A. Ouyoucef, Q.Q. Peyron, V.V. Lebastard, F.F. Renda, G.G. Zheng and F.Frédéric Boyer. Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots.IEEE Robotics and Automation Letters102February 2025, 1848-1855HALDOIback to text
• 17 articleS.Siyuan Wang, H.Haibin Duan, G.Gang Zheng, X.Xubin Ping, D.Driss Boutat and A.Andrey Polyakov. Homogeneous Control Design Using Invariant Ellipsoid Method.IEEE Transactions on Automatic Control2024, 1-8HALDOI
• 18 articleK.Ke Wu, G.Gang Zheng, G.Guimin Chen and S.Shorya Awtar. A Body-frame Beam Constraint Model.Mechanism and Machine Theory1922024, 105517HALDOI
• 19 articleL.Lingxiao Xun, G.Gang Zheng and A.Alexandre Kruszewski. Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment.IEEE Transactions on Robotics402024, 2811-2830HALDOIback to text
• 20 articleY.Yu Zhou, A.Andrey Polyakov and G.Gang Zheng. Finite/fixed-time Stabilization of Linear Systems with State Quantization.IEEE Transactions on Automatic Control2024, 1-8HALDOI
• 21 articleY.Yu Zhou, A.Andrey Polyakov and G.Gang Zheng. Generalized homogeneous rigid-body attitude control.Automatica1632024, 111548HALDOI
• 22 articleY.Yu Zhou, A.Andrey Polyakov and G.Gang Zheng. Robust Finite-time Stabilization of Linear Systems with Limited State Quantization.Automatica171January 2025, 111967HALDOI
• 23 articleY.Yu Zhou, H.Héctor Ríos, M.Manuel Mera, A.Andrey Polyakov, G.Gang Zheng and A.Alejandro Dzul. Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots.IEEE Transactions on Control Systems Technology3212024, 274-281HALDOI

International peer-reviewed conferences

• 24 inproceedingsA.Antoine Alessandrini and A.Alexandre Kruszewski. Linear compliant control design for soft robots.ICRA 2024 - 40th IEEE International Conference on Robotics and Automation - ICRA@40Rotterdam, NetherlandsSeptember 2024HALback to text
• 25 inproceedingsP.Paul Chaillou, J.Jialei Shi, A.Alexandre Kruszewski, I.Isabelle Fournier, H.Helge Wurdemann, T.Thibaud Piccinali and C.Christian Duriez. Optical Servoing of Soft Robotic Instrument for Cancer Imaging.ICRA@40Rotterdam, NetherlandsSeptember 2024HALback to text
• 26 inproceedingsO.Olivier Goury, S. M.Samuel Mohsen Youssef, S.Simon Le Berre and C.Christian Duriez. Towards Real-Time Simulation of Soft Robots with Contacts using a Method of Hybrid Hyper-Reduction.ROBOSOFT 2025 - 8th IEEE-RAS International Conference on Soft RoboticsLausanne, SwitzerlandIEEE2025, 1-6HAL
• 27 inproceedingsE.Etienne Ménager, A.Alexandre Bilger, W.Wilson Jallet, J.Justin Carpentier and C.Christian Duriez. Condensed semi-implicit dynamics for trajectory optimization in soft robotics.IEEE International Conference on Soft Robotics (RoboSoft)San Diego (CA), United StatesApril 2024HALDOIback to text
• 28 inproceedingsF.Flavie Przybylski, Y.Yinoussa Adagolodjo, J.Jérémie Dequidt, C.Christian Duriez and P.Pierre Berthet-Rayne. Enhancing TAVI Robot Flexibility Using Semi-Extensible Materials.HSMR 2024 - 16th Hamlyn Symposium on Medical RoboticsLondon, United KingdomJune 2024HALback to text
• 29 inproceedingsF.Félix Vanneste, C.Claire Martin, O.Olivier Goury, H.Hadrien Courtecuisse, E.Erik Pernod, S.Stéphane Cotin and C.Christian Duriez. Towards realistic needle insertion training simulator using partitioned model order reduction.Lecture Notes in Computer ScienceMICCAI 2024 - International Conference on Medical Image Computing and Computer-Assisted Intervention15006Marrakech, MoroccoSpringer2024HALDOIback to text

Conferences without proceedings

• 30 inproceedingsE.Etienne Ménager and C.Christian Duriez. Learning control strategy in soft robotics through a set of configuration spaces.IEEE International Conference on Soft Robotics (RoboSoft)San Diego (CA), United StatesApril 2024HALback to text

Edition (books, proceedings, special issue of a journal)

• 31 proceedingsHigh 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)October 2024HALback to text

Doctoral dissertations and habilitation theses

• 32 thesisT.Tanguy Navez. Contributions to the Concept of Embodied Intelligence in Soft Robotics through Control and Design Co-Optimization.Université de LilleOctober 2024HALback to text
• 33 thesisL.Lingxiao Xun. Modeling and Control of Active Cochlear Implant.Centrale LilleMarch 2024HALback to text

Reports & preprints

• 34 reportC.Christian Duriez. Mechanical compliance: from soft robot modeling theory to finite element method computation.RT-0521INRIA - Centre Lille Nord EuropeDecember 2024HAL
• 35 miscT.Tanguy Navez, B.Baptiste Liévin, Q.Quentin Peyron, S. E.Stefan Escaida Navarro, O.Olivier Goury and C.Christian Duriez. Design Optimization of a Soft Gripper using Self-Contacts.March 2024HALback to text
• 36 miscS.Sizhe Tian, Y.Yinoussa Adagolodjo and J.Jeremie Dequidt. Using Haptic Feedback in Digital Rectal Examination Training.2024HALDOIback to text

Other scientific publications

• 37 thesisT.Thibaud Piccinali. Computer vision in the context of minimally invasive surgery | Internship report.Ecole Centrale Lille, FranceMarch 2024HAL
• 38 miscG.Gang Zheng and E.Eric Cattan. Un implant cochléaire robotisé prolonge le geste du chirurgien.September 2024HAL