<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-02318617</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-04-27T00:48:58+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Dynamics of continuum and soft robots: a strain parametrization based approach</title>
            <author role="aut">
              <persName>
                <forename type="first">Frédéric</forename>
                <surname>Boyer</surname>
              </persName>
              <email type="md5">9229c3e9055cce80b9b2638269cd26d9</email>
              <email type="domain">imt-atlantique.fr</email>
              <idno type="idhal" notation="string">frederic-boyer</idno>
              <idno type="idhal" notation="numeric">8319</idno>
              <idno type="halauthorid" notation="string">19002-8319</idno>
              <idno type="IDREF">https://www.idref.fr/081448457</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/Y-2184-2018</idno>
              <idno type="VIAF">https://viaf.org/viaf/121672432</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/Y-2184-2018</idno>
              <idno type="IDREF">https://www.idref.fr/074174037</idno>
              <idno type="VIAF">https://viaf.org/viaf/200959803</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=Dl-WRygAAAAJ</idno>
              <orgName ref="#struct-481355"/>
              <affiliation ref="#struct-473973"/>
              <affiliation ref="#struct-481387"/>
              <affiliation ref="#struct-489559"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Vincent</forename>
                <surname>Lebastard</surname>
              </persName>
              <email type="md5">600d2e9688afe67f63a98b5f0ac3cc72</email>
              <email type="domain">imt-atlantique.fr</email>
              <idno type="idhal" notation="string">vincent-lebastard</idno>
              <idno type="idhal" notation="numeric">833</idno>
              <idno type="halauthorid" notation="string">13441-833</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-7306-2286</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=4M262W0AAAAJ&amp;hl=fr</idno>
              <idno type="IDREF">https://www.idref.fr/123593352</idno>
              <orgName ref="#struct-481355"/>
              <affiliation ref="#struct-473973"/>
              <affiliation ref="#struct-481387"/>
              <affiliation ref="#struct-489559"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Fabien</forename>
                <surname>Candelier</surname>
              </persName>
              <email type="md5">f71f202380305b473ab1531f5221d738</email>
              <email type="domain">univ-amu.fr</email>
              <idno type="idhal" notation="numeric">943897</idno>
              <idno type="halauthorid" notation="string">213064-943897</idno>
              <affiliation ref="#struct-949"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Federico</forename>
                <surname>Renda</surname>
              </persName>
              <idno type="idhal" notation="numeric">775006</idno>
              <idno type="halauthorid" notation="string">945193-775006</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-1833-9809</idno>
              <affiliation ref="#struct-462398"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Vincent</forename>
                <surname>Lebastard</surname>
              </persName>
              <email type="md5">600d2e9688afe67f63a98b5f0ac3cc72</email>
              <email type="domain">imt-atlantique.fr</email>
            </editor>
            <funder ref="#projanr-52019"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2019-10-18 12:00:08</date>
              <date type="whenWritten">2019-10-11</date>
              <date type="whenModified">2026-01-19 16:46:19</date>
              <date type="whenReleased">2019-10-18 16:27:53</date>
              <date type="whenProduced">2020-11-26</date>
              <date type="whenEndEmbargoed">2019-10-17</date>
              <ref type="file" target="https://hal.science/hal-02318617v1/document">
                <date notBefore="2019-10-17"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-02318617v1/file/Strain_parametrized_Cosserat_soft_robots.pdf" id="file-2318617-2235629">
                <date notBefore="2019-10-17"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="164070">
                <persName>
                  <forename>Vincent</forename>
                  <surname>Lebastard</surname>
                </persName>
                <email type="md5">600d2e9688afe67f63a98b5f0ac3cc72</email>
                <email type="domain">imt-atlantique.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-02318617</idno>
            <idno type="halUri">https://hal.science/hal-02318617</idno>
            <idno type="halBibtex">boyer:hal-02318617</idno>
            <idno type="halRefHtml">&lt;i&gt;IEEE Transactions on Robotics&lt;/i&gt;, 2020, &lt;a target="_blank" href="https://dx.doi.org/10.1109/TRO.2020.3036618"&gt;&amp;#x27E8;10.1109/TRO.2020.3036618&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">IEEE Transactions on Robotics, 2020, &amp;#x27E8;10.1109/TRO.2020.3036618&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-2318617-2235629"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-NANTES">Université de Nantes</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-AMU">Aix Marseille Université</idno>
            <idno type="stamp" n="EC-NANTES">Ecole Centrale de Nantes</idno>
            <idno type="stamp" n="UNAM">l'unam - université nantes angers le mans</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="IUSTI">Institut Universitaire des Systèmes Thermiques Industriels</idno>
            <idno type="stamp" n="LS2N">Laboratoire des Sciences du Numérique de Nantes</idno>
            <idno type="stamp" n="LS2N-REV" corresp="LS2N">LS2N - équipe ReV ( Robotique Et Vivant )</idno>
            <idno type="stamp" n="LS2N-REV-IMTA">Equipe Rev</idno>
            <idno type="stamp" n="IMTA_DAPI">IMT Atlantique - Département automatique, productique et informatique</idno>
            <idno type="stamp" n="LS2N-IMTA">LS2N - IMT Atlantique</idno>
            <idno type="stamp" n="IMT-ATLANTIQUE" corresp="INSTITUT-MINES-TELECOM">IMT-ATLANTIQUE</idno>
            <idno type="stamp" n="INSTITUTS-TELECOM">composantes instituts telecom </idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="NANTES-UNIVERSITE">Nantes Université</idno>
            <idno type="stamp" n="UNIV-NANTES-AV2022">Université de Nantes</idno>
            <idno type="stamp" n="NU-CENTRALE">École Centrale de Nantes</idno>
            <idno type="stamp" n="PEIRESC">Fédération Fabri de Peiresc</idno>
            <idno type="stamp" n="IMI-AMU">Institut Mécanique et Ingénierie</idno>
            <idno type="stamp" n="INSTITUT-MINES-TELECOM">Institut Mines Telecom</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Dynamics of continuum and soft robots: a strain parametrization based approach</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Frédéric</forename>
                    <surname>Boyer</surname>
                  </persName>
                  <email type="md5">9229c3e9055cce80b9b2638269cd26d9</email>
                  <email type="domain">imt-atlantique.fr</email>
                  <idno type="idhal" notation="string">frederic-boyer</idno>
                  <idno type="idhal" notation="numeric">8319</idno>
                  <idno type="halauthorid" notation="string">19002-8319</idno>
                  <idno type="IDREF">https://www.idref.fr/081448457</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/Y-2184-2018</idno>
                  <idno type="VIAF">https://viaf.org/viaf/121672432</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/Y-2184-2018</idno>
                  <idno type="IDREF">https://www.idref.fr/074174037</idno>
                  <idno type="VIAF">https://viaf.org/viaf/200959803</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=Dl-WRygAAAAJ</idno>
                  <orgName ref="#struct-481355"/>
                  <affiliation ref="#struct-473973"/>
                  <affiliation ref="#struct-481387"/>
                  <affiliation ref="#struct-489559"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Vincent</forename>
                    <surname>Lebastard</surname>
                  </persName>
                  <email type="md5">600d2e9688afe67f63a98b5f0ac3cc72</email>
                  <email type="domain">imt-atlantique.fr</email>
                  <idno type="idhal" notation="string">vincent-lebastard</idno>
                  <idno type="idhal" notation="numeric">833</idno>
                  <idno type="halauthorid" notation="string">13441-833</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-7306-2286</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=4M262W0AAAAJ&amp;hl=fr</idno>
                  <idno type="IDREF">https://www.idref.fr/123593352</idno>
                  <orgName ref="#struct-481355"/>
                  <affiliation ref="#struct-473973"/>
                  <affiliation ref="#struct-481387"/>
                  <affiliation ref="#struct-489559"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Fabien</forename>
                    <surname>Candelier</surname>
                  </persName>
                  <email type="md5">f71f202380305b473ab1531f5221d738</email>
                  <email type="domain">univ-amu.fr</email>
                  <idno type="idhal" notation="numeric">943897</idno>
                  <idno type="halauthorid" notation="string">213064-943897</idno>
                  <affiliation ref="#struct-949"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Federico</forename>
                    <surname>Renda</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">775006</idno>
                  <idno type="halauthorid" notation="string">945193-775006</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-1833-9809</idno>
                  <affiliation ref="#struct-462398"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">5396</idno>
                <idno type="issn">1552-3098</idno>
                <idno type="eissn">1941-0468</idno>
                <title level="j">IEEE Transactions on Robotics</title>
                <imprint>
                  <publisher>IEEE</publisher>
                  <date type="datePub">2020-11-26</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/TRO.2020.3036618</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>In this article we propose a new solution to the forward dynamics of Cosserat beams with in perspective, its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the non-linear parametrization of the beam shape by its strain fields and their discretization on a functional basis of strain modes. While remaining geometrically exact, the approach provides a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be solved with standard explicit time-integrators. Inspired from rigid robotics, the calculation of the matrices of the Lagrange model is performed with a continuous inverse Newton-Euler algorithm. The approach is tested on several numerical benches of non-linear structural statics, as well as further examples illustrating its capabilities for dynamics.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-473973" status="OLD">
          <idno type="IdRef">203637585</idno>
          <idno type="RNSR">201722241F</idno>
          <idno type="ROR">https://ror.org/02snf8m58</idno>
          <orgName>Laboratoire des Sciences du Numérique de Nantes</orgName>
          <orgName type="acronym">LS2N</orgName>
          <date type="start">2017-01-01</date>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <addrLine>Université de Nantes – faculté des Sciences et Techniques (FST)2 Chemin de la HoussinièreBP 92208, 44322 Nantes Cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.ls2n.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-97058" type="direct"/>
            <relation active="#struct-93263" type="indirect"/>
            <relation active="#struct-111023" type="direct"/>
            <relation name="UMR6004" active="#struct-441569" type="direct"/>
            <relation active="#struct-481355" type="direct"/>
            <relation active="#struct-302102" type="indirect"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-481387" status="OLD">
          <orgName>Robotique Et Vivant</orgName>
          <orgName type="acronym">LS2N - équipe ReV</orgName>
          <date type="start">2017-01-01</date>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-473973" type="direct"/>
            <relation active="#struct-97058" type="indirect"/>
            <relation active="#struct-93263" type="indirect"/>
            <relation active="#struct-111023" type="indirect"/>
            <relation name="UMR6004" active="#struct-441569" type="indirect"/>
            <relation active="#struct-481355" type="indirect"/>
            <relation active="#struct-302102" type="indirect"/>
          </listRelation>
        </org>
        <org type="department" xml:id="struct-489559" status="VALID">
          <orgName>Département Automatique, Productique et Informatique</orgName>
          <orgName type="acronym">IMT Atlantique - DAPI</orgName>
          <date type="start">2017-03-21</date>
          <desc>
            <address>
              <addrLine>IMT Atlantique - Campus de Nantes - La Chantrerie - 4, rue Alfred Kastler - CS 20722 - 44307 NANTES Cedex 3</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-481355" type="direct"/>
            <relation active="#struct-302102" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-949" status="VALID">
          <idno type="IdRef">035279028</idno>
          <idno type="RNSR">201220275R</idno>
          <idno type="ROR">04bgbbh33</idno>
          <orgName>Institut universitaire des systèmes thermiques industriels</orgName>
          <orgName type="acronym">IUSTI</orgName>
          <date type="start">2012</date>
          <desc>
            <address>
              <addrLine>Laboratoire IUSTITechnopôle de Château-Gombert5 rue Enrico Fermi13453 Marseille cedex 13FRANCE</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://iusti.univ-provence.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UMR7343" active="#struct-198056" type="direct"/>
            <relation name="UMR7343" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-462398" status="VALID">
          <idno type="ROR">https://ror.org/05hffr360</idno>
          <orgName>Khalifa University of Science and Technology = Khalifa University [Abou Dabi]</orgName>
          <orgName type="acronym">KUSTAR</orgName>
          <date type="start">2017-01-01</date>
          <desc>
            <address>
              <addrLine>P.O. Box: 127788, Abu Dhabi, AEU</addrLine>
              <country key="AE"/>
            </address>
            <ref type="url">https://www.ku.ac.ae/</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-97058" status="OLD">
          <orgName>Université de Nantes - UFR des Sciences et des Techniques</orgName>
          <orgName type="acronym">UN UFR ST</orgName>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <addrLine>2, rue de la Houssinière - BP 92208 - 44322 Nantes cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.sciences-techniques.univ-nantes.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-93263" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-93263" status="OLD">
          <idno type="IdRef">026403447</idno>
          <idno type="ROR">https://ror.org/03gnr7b55</idno>
          <orgName>Université de Nantes</orgName>
          <orgName type="acronym">UN</orgName>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <addrLine>1, quai de Tourville - BP 13522 - 44035 Nantes cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-nantes.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-111023" status="OLD">
          <idno type="IdRef">03063525X</idno>
          <idno type="ISNI">0000000122039289</idno>
          <idno type="ROR">https://ror.org/03nh7d505</idno>
          <orgName>École Centrale de Nantes</orgName>
          <orgName type="acronym">ECN</orgName>
          <date type="end">2021-12-31</date>
          <desc>
            <address>
              <addrLine>1 rue de la Noë - BP 92101 - 44321 Nantes cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ec-nantes.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-481355" status="VALID">
          <idno type="IdRef">202743233</idno>
          <idno type="ROR">https://ror.org/030hj3061</idno>
          <orgName>IMT Atlantique</orgName>
          <orgName type="acronym">IMT Atlantique</orgName>
          <date type="start">2017-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Brest : Technopôle Brest-Iroise CS 8381829238 BREST Cedex 3 -Campus Nantes : 4, rue Alfred Kastler- La chantrerie 44300 NANTES -Campus Rennes :  2 Rue de la Châtaigneraie, 35510 CESSON SEVIGNE</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.imt-atlantique.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-302102" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-302102" status="VALID">
          <idno type="IdRef">192427156</idno>
          <idno type="ISNI">000000012202567X</idno>
          <idno type="ROR">https://ror.org/025vp2923</idno>
          <idno type="Wikidata">Q27962533</idno>
          <orgName>Institut Mines-Télécom [Paris]</orgName>
          <orgName type="acronym">IMT</orgName>
          <date type="start">2012-03-01</date>
          <desc>
            <address>
              <addrLine>19 Place Marguerite Perey, 91120 Palaiseau</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.imt.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-198056" status="VALID">
          <idno type="IdRef">15863621X</idno>
          <idno type="ISNI">0000 0001 2176 4817</idno>
          <idno type="ROR">https://ror.org/035xkbk20</idno>
          <orgName>Aix Marseille Université</orgName>
          <orgName type="acronym">AMU</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Aix-Marseille UniversitéJardins du Pharo58 Boulevard Charles Livon13284 Marseille cedex 7</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-amu.fr/</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-52019" status="VALID">
          <idno type="anr">ANR-20-CE33-0001</idno>
          <orgName>COSSEROOTS</orgName>
          <desc>Théorie Cosserat pour les robots élancés contrôlés en déformation</desc>
          <date type="start">2020</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>