<?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-05230447</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="2026-05-15T16:04:59+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization</title>
            <author role="aut">
              <persName>
                <forename type="first">Anup</forename>
                <forename type="middle">Teejo</forename>
                <surname>Mathew</surname>
              </persName>
              <idno type="idhal" notation="numeric">1322228</idno>
              <idno type="halauthorid" notation="string">2984101-1322228</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4022-7501</idno>
              <affiliation ref="#struct-462398"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Daniel</forename>
                <surname>Feliu-Talegon</surname>
              </persName>
              <idno type="halauthorid">3740130-0</idno>
              <affiliation ref="#struct-462398"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Abdulaziz</forename>
                <forename type="middle">Y</forename>
                <surname>Alkayas</surname>
              </persName>
              <idno type="halauthorid">3740131-0</idno>
              <affiliation ref="#struct-462398"/>
            </author>
            <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>
              <affiliation ref="#struct-489559"/>
              <affiliation ref="#struct-1088585"/>
            </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">2025-08-29 17:11:42</date>
              <date type="whenModified">2026-02-07 05:32:03</date>
              <date type="whenReleased">2025-09-01 08:45:42</date>
              <date type="whenProduced">2024-07-25</date>
              <date type="whenEndEmbargoed">2025-08-29</date>
              <ref type="file" target="https://hal.science/hal-05230447v1/document">
                <date notBefore="2025-08-29"/>
              </ref>
              <ref type="file" subtype="publisherPaid" n="1" target="https://hal.science/hal-05230447v1/file/cut_pdf.pdf" id="file-5230447-4498406">
                <date notBefore="2025-08-29"/>
              </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-05230447</idno>
            <idno type="halUri">https://hal.science/hal-05230447</idno>
            <idno type="halBibtex">mathew:hal-05230447</idno>
            <idno type="halRefHtml">&lt;i&gt;The International Journal of Robotics Research&lt;/i&gt;, 2024, 44 (1), pp.129-154. &lt;a target="_blank" href="https://dx.doi.org/10.1177/02783649241262333"&gt;&amp;#x27E8;10.1177/02783649241262333&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">The International Journal of Robotics Research, 2024, 44 (1), pp.129-154. &amp;#x27E8;10.1177/02783649241262333&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://creativecommons.org/licenses/by-nc/4.0/">CC BY-NC 4.0 - Attribution - Non-commercial use<ref corresp="#file-5230447-4498406"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</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="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="NANTES-UNIV">Nantes Université</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">Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Anup</forename>
                    <forename type="middle">Teejo</forename>
                    <surname>Mathew</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1322228</idno>
                  <idno type="halauthorid" notation="string">2984101-1322228</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4022-7501</idno>
                  <affiliation ref="#struct-462398"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Daniel</forename>
                    <surname>Feliu-Talegon</surname>
                  </persName>
                  <idno type="halauthorid">3740130-0</idno>
                  <affiliation ref="#struct-462398"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Abdulaziz</forename>
                    <forename type="middle">Y</forename>
                    <surname>Alkayas</surname>
                  </persName>
                  <idno type="halauthorid">3740131-0</idno>
                  <affiliation ref="#struct-462398"/>
                </author>
                <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>
                  <affiliation ref="#struct-489559"/>
                  <affiliation ref="#struct-1088585"/>
                </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">5651</idno>
                <idno type="issn">0278-3649</idno>
                <idno type="eissn">1741-3176</idno>
                <title level="j">The International Journal of Robotics Research</title>
                <imprint>
                  <publisher>SAGE Publications</publisher>
                  <biblScope unit="volume">44</biblScope>
                  <biblScope unit="issue">1</biblScope>
                  <biblScope unit="pp">129-154</biblScope>
                  <date type="datePub">2024-07-25</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1177/02783649241262333</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">and Learning for Soft Robots</term>
                <term xml:lang="en">Modeling Control and Learning for Soft Robots</term>
                <term xml:lang="en">Control</term>
                <term xml:lang="en">Modeling</term>
                <term xml:lang="en">Reduced Order Modeling</term>
                <term xml:lang="en">Soft Robots</term>
                <term xml:lang="en">Mathematical Model</term>
                <term xml:lang="en">Strain-based Approach</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</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>The need for fast and accurate analysis of soft robots calls for reduced order models (ROM). Among these, the relative reduction of strain-based ROMs follows the discretization of the strain to capture the configurations of the robot. Based on the geometrically exact variable strain parametrization of the Cosserat rod, we developed a ROM that necessitates a minimal number of degrees of freedom to represent the state of the robot: the Geometric Variable Strain (GVS) model. This model allows the static and dynamic analysis of open-, branched-, or closed-chain soft-rigid hybrid robots, all under the same mathematical framework. This paper presents for the first time the complete GVS modeling framework for a generic hybrid soft-rigid robot. Based on the Magnus expansion of the variable strain field, we developed an efficient recursive algorithm for computing the Lagrangian dynamics of the system. To discretize the soft link, we introduce state- and time-dependent basis, which is the most general form of strain basis. We classify the independent bases into global and local bases. We propose “FEM-like” local strain bases with nodal values as their generalized coordinates. Finally, using four real-world applications, we illustrate the potential of the model developed. We think that the soft robotics community will use the comprehensive framework presented in this work to analyze a wide range of specific robotic systems.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <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="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="researchteam" xml:id="struct-1088585" status="VALID">
          <orgName>Robotique Et Vivant</orgName>
          <orgName type="acronym">LS2N - équipe ReV</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-1088564" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation name="UMR6004" active="#struct-441569" type="indirect"/>
            <relation active="#struct-481355" type="indirect"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation active="#struct-1086798" type="indirect"/>
            <relation active="#struct-1083366" type="indirect"/>
            <relation active="#struct-1088543" type="indirect"/>
            <relation active="#struct-1083400" type="indirect"/>
          </listRelation>
        </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="laboratory" xml:id="struct-1088564" status="VALID">
          <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">2022-01-01</date>
          <desc>
            <address>
              <addrLine>Nantes Université – 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-300009" type="direct"/>
            <relation name="UMR6004" active="#struct-441569" type="direct"/>
            <relation active="#struct-481355" type="direct"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation active="#struct-1086798" type="direct"/>
            <relation active="#struct-1083366" type="indirect"/>
            <relation active="#struct-1088543" type="direct"/>
            <relation active="#struct-1083400" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</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-1086798" status="VALID">
          <idno type="IdRef">03063525X</idno>
          <idno type="ISNI">0000000122039289</idno>
          <idno type="ROR">https://ror.org/03nh7d505</idno>
          <orgName>NANTES UNIVERSITÉ - École Centrale de Nantes</orgName>
          <orgName type="acronym">Nantes Univ - ECN</orgName>
          <date type="start">2022-01-01</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>
          <listRelation>
            <relation active="#struct-1083366" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-1083366" status="VALID">
          <idno type="IdRef">258086599</idno>
          <idno type="ROR">https://ror.org/03gnr7b55</idno>
          <orgName>Nantes Université</orgName>
          <orgName type="acronym">Nantes Univ</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-1088543" status="VALID">
          <orgName>Nantes université - UFR des Sciences et des Techniques</orgName>
          <orgName type="acronym">Nantes univ -  UFR ST</orgName>
          <date type="start">2022-01-01</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-1083400" type="direct"/>
            <relation active="#struct-1083366" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1083400" status="VALID">
          <orgName>Nantes Université - pôle Sciences et technologie</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://nouvelleuniversite.univ-nantes.fr/les-poles</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1083366" type="direct"/>
          </listRelation>
        </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>