343 citations · 441 across the 5 of their papers we have counts for
6 papers
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer +2
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformati…
Soft Robots Modeling: a Structured Overview
Costanza Armanini, Frédéric Boyer, Anup Teejo Mathew +2
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions h…
A MATLAB Toolbox for Hybrid Rigid Soft Robots Based on the Geometric Variable Strain Approach
Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini +2
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limite…
Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics
Federico Renda, Frederic Boyer, Jorge Dias +1
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is th…
Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot
Renaud Henry, Damien Chablat, Mathieu Porez +2
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nucle…
The eel-like robot
Frédéric Boyer, Damien Chablat, Philippe Lemoine +1
The aim of this project is to design, study and build an "eel-like robot" prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results…