Publications

Selected Publications

(Click here to access all our publications)

2022


Constraint-based simulation of passive suction cups.
A. Bernardin, E. Coevoet, P.G. Kry, S. Andrews, C. Duriez, and M. Marchal – TOG (Proc. SIGGRAPH Asia), 2022,
PDF

Planning of soft-rigid Hybrid arms in Contact with Compliant Environment: application to the transrectak biopsy of the prostate.
E. Coevoet, Y. Adagolodjo, M. Lin, C. Duriez, and F. Ficuciello – IEEE Robotics and Automation Letters (Proc. RoboSoft), 2022,
PAGEPDF, VIDEO

2021


Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot.
F. Vanneste, O. Goury and C. Duriez – IEEE RoboSoft 2021,
PAGE, PDF, VIDEO

 

 

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
S. Escaida Navarro, S. Mühlbacher-Karrer, H. Alagi, H. Zangl, K. Koyama, B.Hein, C. Duriez and J. R. Smith – IEEE Transactions on Robotics 2021, PDF

A Bio-Inspired Active Prostate Phantom for Adaptive Interventions
S. Escaida Navarro, S. Dhaliwal, M. Sanz Lopez, S. Wilby, A. Palmer, W. Polak, R. Merzouki and C. Duriez – IEEE Transactions on Medical Robotics and Bionics 2021, PDF, VIDEO

Real-Time Simulation For Control Of Soft Robots With Self-Collisions Using Model Order Reduction For Contact Forces
O. Goury, B. Carrez, C. Duriez – IEEE Robotics and Automation Letters 2021,
PAGEPDF, VIDEO

Coupling numerical deformable models in global and  reduced coordinates for the simulation of the direct
and the inverse kinematics of Soft Robots
Y. Adagolodjo, F. Renda and C. Duriez – IEEE Robotics and Automation Letters 2021,
PAGEPDF, VIDEO

2020


A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
S. Escaida Navarro, S. Nagels, H. Alagi, L.M. Faller, O. Goury, T. Morales Bieze, H. Zangl, B. Hein, R. Ramakers, W. Deferme, G. Zheng and C. Duriez – IEEE Robotics and Automation Letters 2020,
PDF, VIDEO

Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation.
F. Vanneste, O. Goury, J. Martinez, S. Lefebvre, H. Delingette and C. Duriez.
IEEE ICRA 2020, PAGE, PDF, VIDEO

2019


Modeling Novel Soft Mechanosensors based on Air-Flow Measurements
S. Escaida Navarro, O. Goury, Gang Zheng, T. Morales Bieze and C. Duriez – IEEE Robotics and Automation Letters 2019,
PDF, VIDEO

Control Design for Soft Robots based on Reduced Order Model
M. Thieffry, A. Kruszewski, C. Duriez and T.M. Guerra – IEEE Robotics and Automation Letters 2019,
PDF

Calibration and External Force Sensing for Soft Robots using an RGB-D Camera
Z. Zhang, A. Petit, J. Dequidt, and C. Duriez – IEEE Robotics and Automation Letters 2019,
PAGE, PDF

Motion Control of Cable-Driven Continuum Catheter Robot through Contacts
Z. Zhang, J. Dequidt, J. Back, H. Liu, and C. Duriez – IEEE Robotics and Automation Letters 2019,
PAGE, PDF

Toward Shape Optimization of Soft Robots
T. Morzadec, D. Marchal, C. Duriez – IEEE RoboSoft 2019,
PDF, VIDEO

 

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming.
E. Coevoet, A. Escande, C. Duriez – IEEE RoboSoft 2019,
PAGE, PDF, VIDEO

Dynamically Closed-loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer
R. K. Katzschmann, M. Thieffry, O. Goury, A. Kruszewski, T.M. Guerra, C. Duriez and D. Rus – IEEE RoboSoft 2019,
PDF

Vision-based Calibration, Position Control and Force Sensing for Soft Robot
Zhongkai Zhang – INRIA & University of Lille, January 10, 2019,
PDF

Optimization-Based Inverse Model of Soft Robots With Contact Handling
Eulalie Coevoet – INRIA & University of Lille, January 9, 2019

 

2018


Vision-Based Sensing of External Forces Acting on Soft  Robots  Using Finite Element Method
Z. Zhang, J. Dequidt, and C. Duriez – IEEE Robotics and Automation Letters (RA-Letter),
PAGE, PDF, VIDEO

Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators
T. Morales Bieze, F. Largilliere, A. Kruszewski, Z. Zhang, R. Merzouki and C. Duriez – Soft Robotics, Mary Ann Liebert, 2018,
PAGE, PDF

Fast, generic and reliable control and simulation of soft robots using model order reduction
O. Goury and C. Duriez – IEEE Transaction on Robotics, 2018,
PAGE, PDF

Reduced order control of soft robots with guaranteed stability
M. Thieffry, A.Kruszewski, T.M. Guerra and C.Duriez – European Control Conference (ECC), 2018,
PDF

2017


Software toolkit for modeling, simulation and control of soft robots.
E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez – Advanced Robotics 2017, PAGEPDF

Optimization-Based Inverse Model of Soft Robots With Contact Handling
E. Coevoet, A. Escande and C. Duriez – IEEE Robotics and Automation Letters (RA-Letter), 2017,
PAGEPDF, VIDEO

Visual Servoing Control of Soft Robots based on Finite Element Model
Z. Zhang, T. Bieze, J. Dequidt, A. Kruszewski, and C. Duriez – International Conference on Intelligent Robots and Systems (IROS), 2017,
PAGE, PDF

Dynamic Control of Soft Robots
M. Thieffry, A. Kruszewski, O. Goury, T.M. Guerra and C. Duriez – International Federation of Automatic Control (IFAC) World Congress, 2017,
PDF

Real-time simulation of hydraulic components for interactive control of soft robots
A. Rodríguez, E. Coevoet and C. Duriez – IEEE International Conference on Robotics and Automation (ICRA), 2017,
PDF

2016


bigmama_simuFramework for online simulation of soft robots with optimization-based inverse model.
C. Duriez, E. Coevoet, F. Largilliere, T. Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt – IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, PAGE, PDF, VIDEO

Implant insertionNumerical Simulation of Cochlear-Implant Surgery: Towards Patient-Specific Planning.
O. Goury, Y. Nguyen, R. Torres, J. Dequidt and C. Duriez – 19th International Conference on Medical Image Computing and Medical Asserted Intervention (MICCAI), 2016, PAGEPDF, VIDEO

Stiffness rendering on soft tangible devices controlled through inverse FEM simulation.
F. Largillière, E. Coevoet, M. Sanz-Lopez, L. Grisoni and C. Duriez – International Conference on Intelligent Robots and Systems (IROS), 2016, PDF

Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method
Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere and C. Duriez – International Conference on Intelligent Robots and Systems (IROS) 2016, PAGEPDF

 

2015


method22Registration by interactive inverse simulation: application for adaptive radiotherapy.
E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt and C. Duriez – International Journal of Computer Assisted Radiology and Surgery (IJCARS) 2015, PAGE, PDF

domaindecDomain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras.
J. Bosman, T. Morales Bieze, O. Lakhal, M. Sanz-Lopez, R. Merzouki, C. Duriez – IEEE International Conference on Robotics and Automation (ICRA) 2015, PAGE, PDF, VIDEO

diamondReal-time Control of Soft-Robots using Asynchronous Finite Element Modeling
F. Largilliere, V. Verona, E. Coevoet, M. Sanz-Lopez, J. Dequidt and C. Duriez – IEEE International Conference on Robotics and Automation (ICRA) 2015,
PAGEPDF

neuroVascular neurosurgery simulation with bimanual haptic feedback.
J. Dequidt, E. Coevoet, L. Thines and C. Duriez – 12th Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS) 2015, PAGEPDFVIDEO

Physically-based 6-DoF Nodes Deformable Models: Application to Connective Tissues Simulation and Soft-Robots Control.
Julien Bosman – Modeling and Simulation. Université Lille 1 2015
PAGEPDF

 

2014


parotide22Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy.
E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt and C. Duriez – 17th International Conference on Medical Image Computing and Medical Asserted Intervention (MICCAI) 2014,
PAGEPDF, VIDEO

surgeticaReal-time FEM based control of soft surgical robots.
F Largillière, E Coevoet, L Grisoni, C Duriez – SURGETICA 2014,
PAGEPDF

2013


controlControl of Elastic Soft Robots based on Real-Time Finite Element Method.
C. Duriez – IEEE International Conference on Robotics and Automation (ICRA), 2013,
PAGEPDF, VIDEO

Comments are closed.