Frédéric Boyer

107
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Publications

Image document

Analytical derivatives of strain-based dynamic model for hybrid soft-rigid robots

Anup Teejo Mathew , Frédéric Boyer , Vincent Lebastard , Federico Renda
The International Journal of Robotics Research, 2025, ⟨10.1177/02783649251346209⟩
Article dans une revue hal-05230423 v1
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Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots

A. Ouyoucef , Q. Peyron , V. Lebastard , F. Renda , G. Zheng et al.
IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1848-1855. ⟨10.1109/LRA.2024.3524898⟩
Article dans une revue hal-04893096 v1
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Continuum concentric push-pull robots: a Cosserat rod model

Matthias Tummers , Frédéric Boyer , Vincent Lebastard , Alexis Offermann , Jocelyne Troccaz et al.
The International Journal of Robotics Research, 2025, 44 (2), pp.216-246. ⟨10.1177/02783649241263366⟩
Article dans une revue hal-04715577 v2
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Symmetry breaking and gait transition induced by hydrodynamic sensory feedback in an anguilliform swimming robot

Johann Herault , Laura Paez , Kamilo Melo , Robin Thandiackal , Vincent Lebastard et al.
Physical Review E , 2024, 110 (5), pp.055104. ⟨10.1103/PhysRevE.110.055104⟩
Article dans une revue hal-04817887 v1
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Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization

Anup Teejo Mathew , Daniel Feliu-Talegon , Abdulaziz Y Alkayas , Frédéric Boyer , Federico Renda
The International Journal of Robotics Research, 2024, 44 (1), pp.129-154. ⟨10.1177/02783649241262333⟩
Article dans une revue hal-05230447 v1
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Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Pietro Pustina , Cosimo Della Santina , Frédéric Boyer , Alessandro de Luca , Federico Renda
IEEE Transactions on Robotics, 2024, 40, pp.2098-2110. ⟨10.1109/tro.2024.3370089⟩
Article dans une revue hal-04591947 v1
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Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives

Matthias Tummers , Vincent Lebastard , Frédéric Boyer , Jocelyne Troccaz , Benoit Rosa et al.
IEEE Transactions on Robotics, 2023, 39 (3), pp.2360-2378. ⟨10.1109/TRO.2023.3238171⟩
Article dans une revue hal-03935561 v1
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Soft Robots Modeling: A Structured Overview

Costanza Armanini , Frédéric Boyer , Anup Teejo Mathew , Christian Duriez , Federico Renda
IEEE Transactions on Robotics, 2023, 39 (3), pp.1728-1748. ⟨10.1109/TRO.2022.3231360⟩
Article dans une revue hal-04334544 v1
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A Geometrically-Exact Assumed Strain Modes Approach for the Geometrico- and Kinemato-static Modellings of Continuum Parallel Robots

Sébastien Briot , Frédéric Boyer
IEEE Transactions on Robotics, 2023, 39 (2), pp.1527-1543. ⟨10.1109/TRO.2022.3219777⟩
Article dans une revue hal-03836288 v1
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Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

Frédéric Boyer , Vincent Lebastard , Fabien Candelier , Federico Renda , Mazen Alamir
IEEE Transactions on Robotics, 2023, 39 (2), pp.1544-1562. ⟨10.1109/TRO.2022.3226112⟩
Article dans une revue hal-03899887 v1
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Implicit time integration simulation of robots with rigid bodies and Cosserat rods based on a Newton-Euler recursive algorithm

Frédéric Boyer , Andrea Gotelli , Philipp Tempel , Vincent Lebastard , Federico Renda et al.
IEEE Transactions on Robotics, In press, ⟨10.1109/TRO.2023.3334647⟩
Article dans une revue hal-04291835 v1
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Extended Hamilton's principle applied to geometrically exact Kirchhoff sliding rods

Frédéric Boyer , Vincent Lebastard , Fabien Candelier , Federico Renda
Journal of Sound and Vibration, 2022, 516, pp.116511. ⟨10.1016/j.jsv.2021.116511⟩
Article dans une revue hal-03686626 v1
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SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Anup Teejo Mathew , Ikhlas Ben Hmida , Costanza Armanini , Frédéric Boyer , Federico Renda
IEEE Robotics and Automation Magazine, 2022, 30 (3), pp.106 - 122. ⟨10.1109/mra.2022.3202488⟩
Article dans une revue hal-04334630 v1
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A Sliding-Rod Variable-Strain Model for Concentric Tube Robots

Federico Renda , Conor Messer , Caleb Rucker , Frédéric Boyer
IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3451-3458. ⟨10.1109/LRA.2021.3063704⟩
Article dans une revue hal-03686716 v1
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Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Robin Thandiackal , Kamilo Melo , Laura Paez , Johann Herault , Takeshi Kano et al.
Science Robotics, 2021, 6 (57), ⟨10.1126/scirobotics.abf6354⟩
Article dans une revue hal-03430114 v1
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Dynamics of continuum and soft robots: a strain parametrization based approach

Frédéric Boyer , Vincent Lebastard , Fabien Candelier , Federico Renda
IEEE Transactions on Robotics, 2020, ⟨10.1109/TRO.2020.3036618⟩
Article dans une revue hal-02318617 v1
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Underwater pre-touch based on artificial electric sense

Frédéric Boyer , Vincent Lebastard , Steven Bruce Ferrer , Franck Geffard
The International Journal of Robotics Research, 2020, pp.027836492090377. ⟨10.1177/0278364920903776⟩
Article dans une revue hal-02520026 v1

A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Federico Renda , Costanza Armanini , Vincent Lebastard , Fabien Candelier , Frédéric Boyer
IEEE Robotics and Automation Letters, 2020, 5 (3), pp.4006-4013. ⟨10.1109/LRA.2020.2985620⟩
Article dans une revue hal-04963895 v1
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A purely model-based approach to object pose and size estimation with electric sense

Stéphane Bazeille , Vincent Lebastard , Frédéric Boyer
IEEE Transactions on Robotics, 2020, pp.1-8. ⟨10.1109/TRO.2020.3000285⟩
Article dans une revue hal-02635296 v1
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Modélisation de la dynamique de la locomotion.

Frédéric Boyer , Johan Mauny , Mathieu Porez
Les Techniques de l'Ingenieur, 2019, ⟨10.51257/a-v1-s7757⟩
Article dans une revue hal-02552647 v1
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Numerical and Experimental Validation of the Prototype of A Bio-Inspired Piping Inspection Robot

Swaminath Venkateswaran , Damien Chablat , Frédéric Boyer
Robotics, 2019, 8 (2), pp.32. ⟨10.3390/robotics8020032⟩
Article dans une revue hal-02108495 v1

A unified multi-soft-body dynamic model for underwater soft robots

Federico Renda , Francesco Giorgio-Serchi , Frédéric Boyer , Cecilia Laschi , Jorge Dias et al.
The International Journal of Robotics Research, 2018, 37 (6), pp.648-666. ⟨10.1177/0278364918769992⟩
Article dans une revue hal-01985482 v1
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Mechanical Design Optimization of a Piping Inspection Robot

Damien Chablat , Swaminath Venkateswaran , Frédéric Boyer
Procedia CIRP, 2018, 70, pp.307-312. ⟨10.1016/j.procir.2018.02.015⟩
Article dans une revue hal-01763204 v1

Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics

Federico Renda , Frédéric Boyer , Jorge Dias , Lakmal Seneviratne
IEEE Transactions on Robotics, 2018, 34 (6), pp.1518-1533. ⟨10.1109/TRO.2018.2868815⟩
Article dans une revue hal-01985484 v1
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Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

Christine Chevallereau , Frédéric Boyer , Mathieu Porez , Johan Mauny , Yannick Aoustin
Bioinspiration and Biomimetics, 2017, 12 (4), pp.46006 - 46006. ⟨10.1088/1748-3190/aa728f⟩
Article dans une revue hal-01558509 v1
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Underwater robots equipped with artificial electric sense for the exploration of unconventional aquatic niches

Stephane Bazeille , Vincent Lebastard , Frédéric Boyer
Marine Robotics and Applications, 2017, 10, pp.22-51. ⟨10.1007/978-3-319-70724-2_3⟩
Article dans une revue hal-02387635 v1
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Model based estimation of ellipsoidal object using artificial electric sense.

Sylvain Lanneau , Frédéric Boyer , Vincent Lebastard , Stéphane Bazeille
The International Journal of Robotics Research, 2017, ⟨10.1177/0278364917709942⟩
Article dans une revue hal-01550624 v1

General Dynamic Algorithm for Floating Base Tree Structure Robots With Flexible Joints and Links

Wisama Khalil , Frédéric Boyer , Ferhat Morsli
Journal of Mechanisms and Robotics, 2017, 9 (3), ⟨10.1115/1.4035798⟩
Article dans une revue hal-02516287 v1
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Reduced Dynamics of the Non-holonomic Whipple Bicycle

Frédéric Boyer , Mathieu Porez , Johan Mauny
Journal of Nonlinear Science, 2017, ⟨10.1007/s00332-017-9434-x⟩
Article dans une revue hal-01717298 v1

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

Frédéric Boyer , Mathieu Porez , Ferhat Morsli , Yannick Morel
Journal of Nonlinear Science, 2017, 27 (4), pp.1121-1154. ⟨10.1007/s00332-016-9341-6⟩
Article dans une revue hal-02519830 v1
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Reactive underwater object inspection based on artificial electric sense

Vincent Lebastard , Frédéric Boyer , Sylvain Lanneau
Bioinspiration and Biomimetics, 2016, 11, pp.45003 - 45003. ⟨10.1088/1748-3190/11/4/045003⟩
Article dans une revue hal-01503252 v1
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Poincaré’s Equations for Cosserat Media: Application to Shells

Frédéric Boyer , Federico Renda
Journal of Nonlinear Science, 2016, pp.1-44. ⟨10.1007/s00332-016-9324-7⟩
Article dans une revue hal-01230677 v3

Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots

Federico Renda , Francesco Giorgio Serchi , Frédéric Boyer , Cecilia Laschi
International Journal of Advanced Robotic Systems, 2015, 12, pp.68. ⟨10.5772/60143⟩
Article dans une revue hal-01201680 v1
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Underwater navigation based on passive electric sense: New perspectives for underwater docking

Frédéric Boyer , Vincent Lebastard , Christine Chevallereau , Stefano Mintchev , Cesare Stefanini
The International Journal of Robotics Research, 2015, 34 (9), pp.1228-1250. ⟨10.1177/0278364915572071⟩
Article dans une revue hal-01201695 v1

Multibody system dynamics for bio-inspired locomotion: from geometric structures to computational aspects

Frédéric Boyer , Mathieu Porez
Bioinspiration and Biomimetics, 2015, 10 (2), ⟨10.1088/1748-3190/10/2/025007⟩
Article dans une revue hal-01204739 v1

Modelling cephalopod-inspired pulsed-jet locomotion for underwater soft robots

Frederico Renda , Francesco Giorgio-Serchi , Frédéric Boyer , Cecilia Laschi
Bioinspiration and Biomimetics, 2015, 10 (5), pp.055005. ⟨10.1088/1748-3190/10/5/055005⟩
Article dans une revue hal-01260869 v1

Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics

Frédéric Boyer , Ayman Belkhiri
IEEE Transactions on Robotics, 2014, 30 (3), pp.578-592. ⟨10.1109/TRO.2013.2294733⟩
Article dans une revue hal-01206902 v1
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Improved Lighthill fish swimming model for bio-inspired robots - Modelling, computational aspects and experimental comparisons.

Mathieu Porez , Frédéric Boyer , Auke Ijspeert
The International Journal of Robotics Research, 2014, pp.1-34. ⟨10.1177/0278364914525811⟩
Article dans une revue hal-00943604 v1

Electric Sensor-Based Control of Underwater Robot Groups

Christine Chevallereau , Mohammed-Rédha Benachenhou , Vincent Lebastard , Frédéric Boyer
IEEE Transactions on Robotics, 2014, pp.1-15. ⟨10.1109/TRO.2013.2295890⟩
Article dans une revue hal-00994959 v1

Underwater Reflex Navigation in Confined Environment Based on Electric Sense

Frédéric Boyer , Vincent Lebastard , C. Chevallereau , Noël Servagent
IEEE Transactions on Robotics, 2013, 29, pp.945-956. ⟨10.1109/TRO.2013.2255451⟩
Article dans une revue in2p3-00858812 v1
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Environment reconstruction and navigation with electric sense based on kalman filter

Vincent Lebastard , Christine Chevallereau , Alexis Girin , Noël Servagent , Pol-Bernard Gossiaux et al.
The International Journal of Robotics Research, 2013, 32 (2), pp.172-188. ⟨10.1177/0278364912470181⟩
Article dans une revue hal-00794706 v1
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Reduced Locomotion Dynamics with Passive Internal DoFs: Application to Non-holonomic and Soft Robotics

Frédéric Boyer , Ayman Belkhiri
IEEE Transactions on Robotics, 2013, pp.1-16
Article dans une revue hal-00842093 v1

Note on the swimming of an elongated body in a non-uniform flow

Fabien Candelier , Mathieu Porez , Frédéric Boyer
Journal of Fluid Mechanics, 2013, 716, pp.616-637. ⟨10.1017/jfm.2012.560⟩
Article dans une revue hal-00862276 v1

Electrolocation Sensors in Conducting Water Bio-Inspired by Electric Fish

Noël Servagent , B. Jawad , S. Bouvier , Frédéric Boyer , A. Girin et al.
IEEE Sensors Journal, 2013, 13, pp.1865-1882. ⟨10.1109/JSEN.2013.2241536⟩
Article dans une revue in2p3-00862758 v1
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Macro-continuous dynamics for hyper-redundant robots: application to locomotion bio-inspired by elongated animals

Frédéric Boyer , Shaukat Ali , Mathieu Porez
IEEE Transactions on Robotics, 2012, 28, pp.303 - 317
Article dans une revue hal-00761258 v1
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Model for a sensor inspired by electric fish

Frédéric Boyer , Pol-Bernard Gossiaux , Brahim Jawad , Vincent Lebastard , Mathieu Porez
IEEE Transactions on Robotics, 2012, 52 (2), pp.492-505. ⟨10.1109/TRO.2011.2175764⟩
Article dans une revue hal-00614081 v3

Special issue featuring selected papers from the International Workshop on Bio-Inspired Robots (Nantes, France, 6-8 April 2011)

Frédéric Boyer , Cesare Stefanini , Franck Ruffier , Stéphane Viollet
Bioinspiration and Biomimetics, 2012, 7 (2, SI), ⟨10.1088/1748-3182/7/2/020201⟩
Article dans une revue istex hal-01446802 v1
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Three-dimensional extension of Lighthill's large-amplitude elongated-body theory of fish locomotion

Fabien Candelier , Frédéric Boyer , Alban Leroyer
Journal of Fluid Mechanics, 2011, 674, pp.196-226. ⟨10.1017/S002211201000649X⟩
Article dans une revue hal-01145115 v1
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Geometrically Exact Kirchhoff Beam Theory: Application to cable dynamics

Frédéric Boyer , Guillaume de Nayer , Alban Leroyer , Michel Visonneau
Journal of Computational and Nonlinear Dynamics, 2011, 6 (4), pp.041004. ⟨10.1115/1.4003625⟩
Article dans une revue hal-00630756 v1
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Poincaré–Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics

Frédéric Boyer , Mathieu Porez , Alban Leroyer
Journal of Nonlinear Science, 2010, 20 (1), pp.47-79. ⟨10.1007/s00332-009-9050-5⟩
Article dans une revue istex hal-00630754 v1
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Fast Dynamics of a three dimensional eel-like robot: comparisons with Navier-Stokes simulations

Frédéric Boyer , Mathieu Porez , Alban Leroyer , Michel Visonneau
IEEE Transactions on Robotics, 2008, 24 (6), pp.1274-1288. ⟨10.1109/tro.2008.2006249⟩
Article dans une revue hal-00630753 v1

Further results on the accessibility of a satellite with two reaction wheels

Frédéric Boyer , Mazen Alamir
Journal of Guidance, Control, and Dynamics, 2007, 30 (2), pp.611-619
Article dans une revue hal-00083866 v1
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Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

Frédéric Boyer , Mathieu Porez , Wisama Khalil
IEEE Transactions on Robotics, 2006, pp.563-775
Article dans une revue hal-00630750 v1
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POINCARE-CHETAYEV EQUATIONS AND FLEXIBLE MULTI-BODY SYSTEMS

Frédéric Boyer , Dominique Primault
Journal of Applied Mathematics and Mechanics, 2005, 69 (6), pp.925-942
Article dans une revue hal-00672477 v1
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Modeling, analysis and design of an extensible planar parallel tendon actuated continuum robot

A Ouyoucef , Q Peyron , G Zheng , Frédéric Boyer
RoboSoft 2025: IEEE 8th International Conference on Soft Robotics, IEEE, Apr 2025, Lausanne, Switzerland. ⟨10.1109/RoboSoft63089.2025.11020851⟩
Communication dans un congrès hal-05052145 v1
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Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure

Xiao Xie , Johann Herault , Vincent Lebastard , Frédéric Boyer
ARSO 2023: 19th IEEE International Conference on Advanced Robotics and Its Social Impacts, Jun 2023, Berlin, Germany. pp.65-70, ⟨10.1109/ARSO56563.2023.10187577⟩
Communication dans un congrès hal-04416912 v1
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Underwater communication with artificial electric sense

Mohamed Boukens , Vincent Lebastard , Godfried Jansen van Vuuren , Frédéric Boyer
ALIFE2021: Artificial Life Conference Proceedings, Jul 2021, Virtuel, Czech Republic. ⟨10.1162/isal_a_00401⟩
Communication dans un congrès hal-03686620 v1
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Quasi-static motion of a new serial snake-like robot on a water surface: a geometrical approach

Xiao Xie , Johann Herault , Étienne Clement , Vincent Lebastard , Frédéric Boyer
IROS 2021: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. pp.7372-7377, ⟨10.1109/IROS51168.2021.9636073⟩
Communication dans un congrès hal-03686633 v1

Standing on the Water: Stability Mechanisms of Snakes on Free Surface

Johann Herault , Étienne Clement , Jonathan Brossillon , Seth Lagrange , Vincent Lebastard et al.
Living Machines 2020 : 9th International Conference on Biomimetic and Biohybrid Systems, Jul 2020, Freiburg, Germany. pp.165-175, ⟨10.1007/978-3-030-64313-3_17⟩
Communication dans un congrès hal-03109367 v1

VULnerability of Populations under Extreme Scenarios (VULPES project)

Rachid Cheddadi , Alexandra-Jane Henrot , Louis François , Frédéric Boyer , Mark M. Bush et al.
American Geophysical Union, Fall Meeting 2018, AGU, Dec 2018, Washington, D. C., United States
Communication dans un congrès hal-02402094 v1

Euler-Poincaré equations for Cosserat media

Frédéric Boyer , Federico Renda
Colloque: "Jean-Marie Souriau" CITV 2018, Jun 2018, Carqueiranne, France
Communication dans un congrès hal-01991159 v1

EVOSHEEP Project. First zootechnical innovations in Southwest Asian societies (6th–1rst millennia B.C.): Origin and development of sheep breeds

Emmanuelle Vila , Philippe Abrahami , Moussab Al Besso , Rémy Berthon , Frédéric Boyer et al.
ICAZ 2018 : 13th ICAZ International Conference, 2018, Ankara, Turquie, Turkey
Communication dans un congrès hal-02195127 v1

Émergence d’une nage cohérente induite par des retours sensoriels

Johann Herault , Frédéric Boyer
rencontre du non-linéaire 2018, Mar 2018, Paris, France
Communication dans un congrès hal-01985490 v1
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Symbolic Dynamic Modelling of Locomotion Systems with Persistent Contacts - Application to the 3D Bicycle

Johan Mauny , Mathieu Porez , Frédéric Boyer
20th World Congress of the International Federation of Automatic Control (IFAC 2017), Jul 2017, Toulouse, France. pp.7598-7605, ⟨10.1016/j.ifacol.2017.08.1007⟩
Communication dans un congrès hal-01717312 v1
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Model based object localization and shape estimation using electric sense on underwater robots

Stéphane Bazeille , Vincent Lebastard , Sylvain Lanneau , Frédéric Boyer
IFAC 2017 : 20th IFAC World Congress, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.941⟩
Communication dans un congrès hal-01503876 v1
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Object shape recognition using electric sense and ellipsoid's polarization tensor

Sylvain Lanneau , Vincent Lebastard , Frédéric Boyer
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Stockholm, Sweden. pp.4692 - 4699, ⟨10.1109/ICRA.2016.7487670⟩
Communication dans un congrès hal-01503250 v1
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Neural-based underwater surface localization through electrolocation

Yannick Morel , Vincent Lebastard , Frédéric Boyer
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Stockholm, Sweden. pp.2596 - 2603, ⟨10.1109/ICRA.2016.7487417⟩
Communication dans un congrès hal-01503248 v1
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Neural-based Underwater Spherical Target Localization through Electrolocation

Yannick Morel , Vincent Lebastard , Frédéric Boyer
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Washington State Convention Center, United States. ⟨10.1109/ICRA.2015.7138975⟩
Communication dans un congrès hal-01503239 v1
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Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

Renaud Henry , Damien Chablat , Mathieu Porez , Frédéric Boyer , Daniel Kanaan
Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10
Communication dans un congrès hal-01008793 v1
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A hybrid dynamic model for bio-inspired soft robots - Application to a flapping-wing micro air vehicle.

Mathieu Porez , Frédéric Boyer , Ayman Belkhiri
IEEE International Conference on Robotics and Automation (ICRA'2014), May 2014, Hong Kong, China. pp.1-8
Communication dans un congrès hal-00861321 v2

Computational morphology for a soft micro air vehicle in hovering flight

Christine Chevallereau , Mathieu Porez , Frédéric Boyer
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, Chicago, United States. pp.3404-3410
Communication dans un congrès hal-01206883 v1
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Synthesis of an electric sensor based control for underwater multi-agents navigation in a file

Mohammed-Rédha Benachenhou , Christine Chevallereau , Vincent Lebastard , Frédéric Boyer
2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, Germany. pp.4608 - 4613, ⟨10.1109/ICRA.2013.6631232⟩
Communication dans un congrès hal-00994947 v1

Spatial modelling of plant diversity from high-throughput environmental dna sequence data

Angelika Studeny , Florence Forbes , Eric Coissac , Alain Viari , Celine Mercier et al.
45èmes Journées de Statistique, Société Française de Statistique, May 2013, Toulouse, France
Communication dans un congrès hal-00933699 v1
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Étude expérimentale des interactions hydrodynamiques survenant lors de la nage anguilliforme dans une allée Bénard Von-Karman

Younes Matar , Fabien Candelier , Camille Solliec , A. Isjpeert , F. Boyer
CFM 2013 - 21ème Congrès Français de Mécanique, Aug 2013, Bordeaux, France
Communication dans un congrès hal-03439851 v1
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A Hybrid Dynamic Model Of An Insect-Like MAV With Soft Wings

Ayman Belkhiri , Mathieu Porez , Frédéric Boyer
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Dec 2012, Guangzhou, China. pp.108-115
Communication dans un congrès hal-00761287 v1

Electric sensor based control for underwater multi-agents navigation in formation

Christine Chevallereau , Frédéric Boyer , Vincent Lebastard , Mohammed-Rédha Benachenhou
2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, Saint Paul, MN, United States. pp.1161 - 1167, ⟨10.1109/ICRA.2012.6224942⟩
Communication dans un congrès hal-00994929 v1
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Exploration of Objects by an Underwater Robot with Electric Sense

Frédéric Boyer , Vincent Lebastard
Living Machines 2012: Biomimetic and Biohybrid Systems, 2012, barcelone, Spain. pp.50 - 61, ⟨10.1007/978-3-642-31525-1_5⟩
Communication dans un congrès hal-01503035 v1
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Localization of small objects with electric sense based on kalman filter

Vincent Lebastard , C Chevallereau , A Girin , Frédéric Boyer , Pol-Bernard Gossiaux
2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1137 - 1142, ⟨10.1109/ICRA.2012.6224824⟩
Communication dans un congrès hal-01503057 v1

An underwater reconfigurable robot with bioinspired electric sense

Stefano Mintchev , Cesare Stefanini , Alexis Girin , Stefano Marrazza , Stefano Orofino et al.
2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1149 - 1154, ⟨10.1109/ICRA.2012.6224956⟩
Communication dans un congrès hal-01503047 v1
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Underwater electro-navigation in the dark

Vincent Lebastard , Frédéric Boyer , Christine Chevallereau , Noël Servagent
2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1155 - 1160, ⟨10.1109/ICRA.2012.6224836⟩
Communication dans un congrès hal-01503049 v1
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Towards an Electric-Sense-Based Bioinspired Embodied Robotic Perception System: The Modelling Aspect

Brahim Jawad , Pol-Bernard Gossiaux , Frédéric Boyer
Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), May 2011, Budapest, Hungary
Communication dans un congrès hal-00704070 v1
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Sensor model for the navigation of underwater vehicles by the electric sense

Brahim Jawad , Pol-Bernard Gossiaux , Frédéric Boyer , Vincent Lebastard , Francesco Gomez et al.
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on, Dec 2010, China. pp.879 - 884
Communication dans un congrès hal-00704063 v1
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Multi-physics model of an electric fish-like robot : numerical aspects and application to obstacle avoidance

Mathieu Porez , Vincent Lebastard , Auke Jan Ijspeert , Frédéric Boyer
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San-Francisco, United States. pp.1-6
Communication dans un congrès hal-00630762 v1

On Solving Inverse Problems for Electric Fish Like Robots

Mazen Alamir , Oumayma Omar , Noël Servagent , Alexis Girin , Pascal Bellemain et al.
ROBIO 2010 - IEEE International Conference on Robotics and Biomimetics, Dec 2010, Tianjin, China. pp.n.c
Communication dans un congrès hal-00522917 v1
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Underwater robot navigation around a sphere using electrolocation sense and Kalman filter

Vincent Lebastard , Christine Chevallereau , Ali Amrouche , Brahim Jawad , Alexis Girin et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. pp.4225-4230, ⟨10.1109/IROS.2010.5648929⟩
Communication dans un congrès hal-00634830 v1

Reduced Mean Model for Controlling a Three-Dimensional Eel-like Robot

Maher El Rafei , Mazen Alamir , Nicolas Marchand , Mathieu Porez , Frédéric Boyer
ROBIO 2008 - IEEE International Conference on Robotics and Biomimetics, Feb 2009, Bangkok, Thailand
Communication dans un congrès hal-00327533 v1
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Interaction Fluide-Structure pour les corps élancés

Michel Visonneau , Guillaume de Nayer , Alban Leroyer , Frédéric Boyer
CFM 2009 - 19ème Congrès Français de Mécanique, Aug 2009, Marseille, France
Communication dans un congrès hal-03378526 v1
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The eel-like robot

Frédéric Boyer , Damien Chablat , Philippe Lemoine , Philippe Wenger
ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
Communication dans un congrès hal-00411844 v2

Eel-like body swimming: extension of the elongated body theory of Lighthill, RANSE simulations and optimisation

Alban Leroyer , Michel Visonneau , Mathieu Porez , Frédéric Boyer
Fluid & Elasticity 2009, 2009, Carry le Rouet, France, France
Communication dans un congrès hal-01156301 v1

Large deformations on elongated bodies

Guillaume De Nayer , Alban Leroyer , Michel Visonneau , Frédéric Boyer
9th International conference on Flow-Induced Vibrations (FIV2008), 2008, Prague, Czech Republic
Communication dans un congrès hal-01156234 v1
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Multi-variable Constrained Control Approach for a Three-Dimensional Eel-like Robot

Maher El Rafei , Mazen Alamir , Nicolas Marchand , Mathieu Porez , Frédéric Boyer
IROS 2008 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. http://iros2008.inria.fr/, ⟨10.1109/IROS.2008.4650695⟩
Communication dans un congrès hal-00287819 v1
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Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Maher El Rafei , Mazen Alamir , Nicolas Marchand , Mathieu Porez , Frédéric Boyer
IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, South Korea
Communication dans un congrès hal-00199433 v1

Self-propelled eel-like body dynamics : simplified model and optimisation of laws of deformation. Fluid-structure interaction in biomechanics

Alban Leroyer , Michel Visonneau , Mathieu Porez , Frédéric Boyer
9th International conference on Flow-Induced Vibrations (FIV2008), 2008, Prague, France
Communication dans un congrès hal-01156249 v1

Feedback design for 3D movement of an Eel-like robot

Mazen Alamir , Maher El Rafei , Ghizlane Hafidi , Nicolas Marchand , Mathieu Porez et al.
ICRA 2007 - IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy
Communication dans un congrès hal-00124331 v1
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Dynamic Model of a Bio-Inspired Robot for Piping Inspection

Damien Chablat , Swaminath Venkateswaran , Frédéric Boyer
Vigen Arakelian, Philippe Wenger. ROMANSY 22 – Robot Design, Dynamics and Control, 584, Springer, Cham, pp.42-51, 2018, CISM International Centre for Mechanical Sciences (Courses and Lectures), 978-3-319-78962-0. ⟨10.1007/978-3-319-78963-7_7⟩
Chapitre d'ouvrage hal-01807189 v1
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Electric sensing for underwater navigation

Frédéric Boyer , Vincent Lebastard
Living machines: A handbook of research in biomimetics and biohybrid systems, 2018
Chapitre d'ouvrage hal-01979898 v1

Underwater Robots Equipped with Artificial Electric Sense for the Exploration of Unconventional Aquatic Niches

Stéphane Bazeille , Vincent Lebastard , Frédéric Boyer
Marine Robotics and Applications, pp.29-50, 2018
Chapitre d'ouvrage hal-01979908 v1

A Multi-soft-body Dynamic Model for Underwater Soft Robots

Federico Renda , Francesco Giorgio-Serchi , Frédéric Boyer , Cecilia Laschi , Jorge Dias et al.
Advanced Robotics, vol 2., pp.143-160, 2018
Chapitre d'ouvrage hal-01991149 v1

Chapitre 10. Modèle dynamique des manipulateurs déformables.

Frédéric Boyer , Ayman Belkhiri
GROSSARD Mathieu, CHAILLET Nicolas, RÉGNIER Stéphane. Robotique flexible - Applications à la manipulation multiéchelle, Hermes, Paris, pp.331-357, 2013, Traité IC2, série Systèmes automatisés, 9782746245099
Chapitre d'ouvrage hal-00842096 v1

Chapter 10. Dynamics models for deformable manipulators

Frédéric Boyer , Ayman Belkhiri
Mathieu Grossard, Stephane Regnier, Nicolas Chaillet. Flexible Robotics: Applications to Multiscale Manipulations, ISTE Ltd and John Wiley & Sons Inc, pp.321-348, 2013, Robotics Series, 9781848215207
Chapitre d'ouvrage hal-00842104 v1

Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board

Mazen Alamir , Frédéric Boyer
Diehl M. ; Mombaur K. (Eds.). Fast Motions in Biomechanics and Robotics : Optimization and Feedback Control, Springer Verlag, 2006, Series: Lecture Notes in Control and Information Sciences LNCIS Vol. 340. ISBN: 978-3-540-36118-3
Chapitre d'ouvrage hal-00083371 v1
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Robot anguille sous-marin en 3D

Frédéric Boyer , Mazen Alamir , Damien Chablat , Wisama Khalil , Alban Leroyer et al.
Techniques de l'Ingénieur, Edition Techniques de l'Ingénieur, pp.S 7 856: 1-16, 2006, ⟨10.51257/a-v1-s7856⟩
Chapitre d'ouvrage hal-00186672 v1