Cédric Girerd

Chargé de Recherche, CNRS
22
Documents
Affiliation actuelle
  • Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Identifiants chercheurs
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Publications

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InchIGRAB: An Inchworm-Inspired Guided Retraction and Bending Device for Vine Robots During Colonoscopy

Ayush Giri , Cédric Girerd , Jacobo Cervera-Torralba , Michael Tolley , Tania Morimoto

IEEE/ASME Transactions on Mechatronics, 2025, 30 (6), pp.6870-6881. ⟨10.1109/TMECH.2025.3535876⟩

Article dans une revue hal-04981260v1
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Tip-Growing Robots: Design, Theory, Application

Shamsa Al Harthy , S.M.Hadi Sadati , Cédric Girerd , Sukjun Kim , Alessio Mondini et al.

IEEE Transactions on Robotics, 2025, 41, pp.5511-5532. ⟨10.1109/TRO.2025.3608701⟩

Article dans une revue (article de synthèse) hal-05269475v1
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Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots

Cédric Girerd , Anna Alvarez , Elliot Hawkes , Tania Morimoto

IEEE Transactions on Robotics, 2024, 40, pp.2166-2180. ⟨10.1109/TRO.2024.3370088⟩

Article dans une revue hal-04484004v1
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Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery

Jui-Te Lin , Cédric Girerd , Benjamin Ostrander , Parsa Molaei , Hunter Gilbert et al.

IEEE Transactions on Biomedical Engineering, 2024, 71 (12), pp.3457-3469. ⟨10.1109/TBME.2024.3426489⟩

Article dans une revue hal-04690793v1
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Scalable Enforcement of Geometric Non-interference Constraints for Gradient-Based Optimization

Ryan C. Dunn , Anugrah Jo Joshy , Jui-Te Lin , Cédric Girerd , Tania K. Morimoto et al.

Optimization and Engineering, 2024, 25, pp.1849-1882. ⟨10.1007/s11081-023-09864-2⟩

Article dans une revue hal-04312659v1
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ForceSticker: Wireless, Batteryless, Thin & Flexible Force Sensors

Agrim Gupta , Daegue Park , Shayaun Bashar , Cédric Girerd , Nagarjun Bhat et al.

Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies , 2023, 7 (1), pp.1-32. ⟨10.1145/3580793⟩

Article dans une revue hal-04312880v1
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Design and Fabrication of Concentric Tube Robots: A Survey

Chibundo Nwafor , Cédric Girerd , Guillaume Laurent , Tania K. Morimoto , Kanty Rabenorosoa

IEEE Transactions on Robotics, 2023, 39 (4), pp.2510-2528. ⟨10.1109/TRO.2023.3255512⟩

Article dans une revue (article de synthèse) hal-04312792v1
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A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization

Jui-Te Lin , Cédric Girerd , Jiayao Yan , John T Hwang , Tania K Morimoto

IEEE Transactions on Robotics, 2022, 38 (6), pp.3774-3791. ⟨10.1109/TRO.2022.3180627⟩

Article dans une revue hal-04487602v1
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Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery

Cédric Girerd , Tania Morimoto

IEEE Transactions on Robotics, 2021, 37 (4), pp.1022-1038. ⟨10.1109/TRO.2020.3043668⟩

Article dans une revue hal-04487603v1
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A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery

Dang Viet Anh Nguyen , Cédric Girerd , Quentin Boyer , Patrick Rougeot , Olivier Lehmann et al.

IEEE Robotics and Automation Letters, 2021, 7 (1), pp.462 - 469

Article dans une revue hal-03549460v1

Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment

Cedric Girerd , Thomas Schlinquer , Nicolas Andreff , Pierre Renaud , Kanty Rabenorosoa

Journal of Mechanisms and Robotics, 2020, 13 (1), ⟨10.1115/1.4047983⟩

Article dans une revue hal-04593548v1
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Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM

Cédric Girerd , Andrey Kudryavtsev , Patrick Rougeot , Pierre Renaud , Kanty Rabenorosoa et al.

IEEE Transactions on Medical Robotics and Bionics, 2020, 2 (4), pp.582 - 585. ⟨10.1109/TMRB.2020.3034720⟩

Article dans une revue hal-03053017v1
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SLAM-based Follow-the-Leader Deployment of Concentric Tube Robots

Cédric Girerd , Andrey Kudryavtsev , Patrick Rougeot , Pierre Renaud , Kanty Rabenorosoa et al.

IEEE Robotics and Automation Letters, 2020, 5 (2), pp.548-555. ⟨10.1109/LRA.2019.2963821⟩

Article dans une revue hal-03053015v1
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Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM

Cedric Girerd , Andrey Kudryavtsev , Patrick Rougeot , Pierre Renaud , Kanty Rabenorosoa et al.

IEEE Transactions on Medical Robotics and Bionics, 2020, 2 (4), pp.582-585. ⟨10.1109/TMRB.2020.3034720⟩

Article dans une revue hal-03421086v1
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In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy

Cédric Girerd , Thomas Lihoreau , Kanty Rabenorosoa , Brahim Tamadazte , Mourad Benassarou et al.

Annals of Biomedical Engineering, 2018, 46 (11), pp.1951-1961. ⟨10.1007/s10439-018-2076-9⟩

Article dans une revue hal-02126171v1
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Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test Evaluation

Camille Benoist , Cédric Girerd , Nabil Zemiti , Philippe Poignet , Pierre Berthet-Rayne

CRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark

Communication dans un congrès hal-04690807v2
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Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering

Jingpei Lu , Fei Liu , Cédric Girerd , Michael Yip

ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. pp.560-567, ⟨10.1109/ICRA48891.2023.10161066⟩

Communication dans un congrès lirmm-04052705v1

Towards optical biopsy of olfactory cells using concentric tube robots with follow-the-leader deployment

Cedric Girerd , Kanty Rabenorosoa , Patrick Rougeot , Pierre Renaud

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2017, Vancouver, Canada. pp.5661-5887, ⟨10.1109/IROS.2017.8206455⟩

Communication dans un congrès hal-04830864v1

Toward a robotized inspection of the olfactory epithelium

Cedric Girerd , Kanty Rabenorosoa , Pierre Renaud

Surgetica 2017, Nov 2017, Strasbourg, France

Communication dans un congrès hal-04832537v1

Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots

Cédric Girerd , Kanty Rabenorosoa , Pierre Renaud

Advances in Robot Kinematics 2016, 4, Springer International Publishing, pp.23-31, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56802-7. ⟨10.1007/978-3-319-56802-7_3⟩

Chapitre d'ouvrage hal-04828528v1