Thor Morales Bieze — accepted AI-conference papers

2020

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, Lisa-Marie Faller, Olivier Goury, Thor Morales Bieze +6

RA-L 2020

In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the

Cited by 63 Source ↗Scholar ↗

2019

Modeling Novel Soft Mechanosensors Based on Air-Flow Measurements

Stefan Escaida Navarro, Olivier Goury, Gang Zheng, Thor Morales Bieze, Christian Duriez

RA-L 2019

In this letter, we introduce a new pneumatic mechanosensor dedicated to Soft Robotics and propose a generic method to reconstruct the magnitude of a contact-force acting on it. Changes in cavity volumes inside a soft silicon pad are measured by air-flow sensors. The resulting mechanosensor is charac

Cited by 18 Source ↗Scholar ↗

2017

Visual servoing control of soft robots based on finite element model

Zhongkai Zhang, Thor Morales Bieze, Jeremie Dequidt, Alexandre Kruszewski, Christian Duriez

IROS 2017poster

In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the r…

Cited by 44 Source ↗Scholar ↗

2015

Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Julien Bosman, Thor Morales Bieze, Othman Lakhal, Mario Sanz, Rochdi Merzouki, Christian Duriez

ICRA 2015poster

This paper presents a development of a new method dedicated to the modeling and control of Continuum Robots, based on the Finite Element Method (FEM) using quasi-static assumption. The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot th…

Cited by 31 Source ↗Scholar ↗