CO2 : Control and scientific Computing


DEFormable RObotic SofTware

Leader: Christian Duriez



Soft robotics is bringing a renewal of robot mechatronic design: future robots will no longer be "rigid" but made of complex deformable structures, composed of stiff and soft regions, close to organic materials that we can find in the nature. Soft robotics opens very attractive perspectives in terms of new applications, reduction of manufacturing costs, robustness, efficiency and security. It could constitute a great jump in robotics in the following years. The main obstacle identified by all surveys on the subject, is the non-adaptation of the current robotic methods used for design, control, modeling and interaction: it can no longer be argued that deformations are solely a perturbation of rigid models, classically used in robotics. It is precisely on this point that our team proposes a completely different vision. We aim at integrating precise and real-time modeling of the deformations in the control methods of soft robots and new inverse methods for the interaction with the environment. This is where the challenge begins…

Walid Amehri

Soft Robots Design

Eulalie Coevoet

Pilotage de robots déformables basé sur des modèles physiques inversés en temps réel

Frederick Largilliere

Design of printable deformable robots controlled by real-time finite-element simulation

Maxime Thieffry

Modélisation et contrôle de robots déformables à grande vitesse

Siyuan Wang

Non-linear gain scheduling control

Zhongkai Zhang

Control of Soft Robot using Visual Servoing

Zhifan Jiang

Evaluation of mobility and geometric modeling of female pelvic system by medical image analysis 2017-01-27

Rosalie Plantefeve

Recalage élastique et réalité augmentée pour la chirurgie hépatique 2016-06-08

Julien Bosman

Simulation à base de Particules et Intéractions Multi-physiques en Temps-Réel 2015-11-27

Vincent Majorczyk

Modélisation des interactions entre solides déformables et films fluides pour la simulation médicale temps-réel 2015-04-28

Alexandre Kruszewski

Are Polytopic Control Design Methods Suitable for the Next Robotic Challenges ? 2017-12-12

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