Frederick Largilliere — accepted AI-conference papers

2016

Kinematic modeling and observer based control of soft robot using real-time Finite Element Method

Zhongkai Zhang, Jeremie Dequidt, Alexandre Kruszewski, Frederick Largilliere, Christian Duriez

IROS 2016poster

This paper aims at providing a novel approach to modeling and controlling soft robots. Based on real-time Finite Element Method (FEM), we obtain a globally defined discrete-time kinematic model in the workspace of soft robots. From the kinematic equations, we deduce the soft-robot Jacobian matrix an…

Cited by 72 Source ↗Scholar ↗

2015

Real-time control of soft-robots using asynchronous finite element modeling

Frederick Largilliere, Valerian Verona, Eulalie Coevoet, Mario Sanz-Lopez, Jeremie Dequidt, Christian Duriez

ICRA 2015poster

Finite Element analysis can provide accurate deformable models for soft-robots. However, using such models is very difficult in a real-time system of control. In this paper, we introduce a generic solution that enables a high-rate control and that is compatible with strong real-time constraints. Fro…

Cited by 167 Source ↗Scholar ↗