output
20152026
researchers with a paper here
collaborating institutions

10 papers

cs.RO2026

Frictional Contact Solving for Material Point Method

Etienne Ménager, Justin Carpentier

Accurately handling contact with friction remains a core bottleneck for Material Point Method (MPM), from reliable contact point detection to enforcing frictional contact laws (non…

cs.RO2025

On the Conic Complementarity of Planar Contacts

Yann de Mont-Marin, Louis Montaut, Jean Ponce +2

We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for pr…

cs.RO2025

Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model

Etienne Ménager, Tanguy Navez, Paul Chaillou +3

The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learni…

cs.RO2025

Differentiable Simulation of Soft Robots with Frictional Contacts

Etienne Ménager, Louis Montaut, Quentin Le Lidec +1

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and act…

q-bio.QM2024

i-GRIP, a Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Etienne Moullet, Justin Carpentier, Christine Azevedo Coste +1

This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper…

q-bio.QM2024

A Grasping Movement Intention Estimator for Intuitive Control of Assistive Devices

Etienne Moullet, François Bailly, Justin Carpentier +1

This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairm…