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

Shijie Li

Conditions exploitables numériquement pour les conceptions de contrôle et d'observateur de systèmes non linéaires de grande taille. Application à la robotique douce

Haihong Li

Contrôle robuste du manipulateur souple via Cosserat

Etienne Ménager

Intelligence artificielle pour données fortement structurées, application au contrôle haut niveau en robotique souple médicale

Pierre Schegg

Pilotage automatique d'un robot guide de cathéters pour un traitement en cardiologie interventionnelle

Félix Vanneste

Design and Simulation of Soft Robots Made of Meso- Structured Materials

Ke Wu

Contrôle du manipulateur logiciel sous contrainte

Lingxiao Xun

Modélisation et commande del'implant cochléaire actif

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