386 citations · 695 across the 9 of their papers we have counts for
11 papers
Learning control strategy in soft robotics through a set of configuration spaces
Etienne Ménager, Christian Duriez
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired pos…
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro +3
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors…
Toward the use of proxies for efficient learning manipulation and locomotion strategies on soft robots
Etienne Ménager, Quentin Peyron, Christian Duriez
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-…
Direct and inverse modeling of soft robots by learning a condensed FEM model
Etienne Ménager, Tanguy Navez, Olivier Goury +1
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numeric…
An Open Source Design Optimization Toolbox Evaluated on a Soft Finger
Stefan Escaida Navarro, Tanguy Navez, Olivier Goury +2
In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that i…
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang +3
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estima…
Sustainably Grown: The Underdog Robots of the Future
Stoyan K. Smoukov
It is hard to imagine with the progress in robotics that current approaches are lacking somewhere, yet they will not be applicable to the majority of robots in the near future. We…
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…
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges
Cosimo Della Santina, Christian Duriez, Daniela Rus
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft ap…
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
Stefan Escaida Navarro, Stephan Mühlbacher-Karrer, Hosam Alagi +5
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems…
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
Christian Duriez, Frédéric Dubois, Abderrahmane Kheddar +1
A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback…