MP

Mathieu Porez

37
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Publications

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The role of tensegrity in the diversity of avian postural stability

Roxane Vimbert , Idriss Pelletan , Mathieu Porez , Anick Abourachid , Christine Chevallereau

Journal of the Royal Society Interface, 2026, 23 (235), ⟨10.1098/rsif.2025.0631⟩

Article dans une revue hal-05495953v1
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Modeling and analysis of a four-leg tensegrity mechanism

Karol Muñoz , Mathieu Porez , Philippe Wenger

Mechanism and Machine Theory, 2025, 211, pp.106009. ⟨10.1016/j.mechmachtheory.2025.106009⟩

Article dans une revue hal-05093485v1
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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-02552647v1
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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-01558509v1

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-02519830v1
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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-01717298v1

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-01204739v1
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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-00943604v1

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-00862276v1
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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-00761258v1
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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-00614081v3
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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-00630754v1
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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-00630753v1
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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-00630750v1
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Stiffness Analysis and Tuning of a Four-Leg Tensegrity Mechanism

Karol Muñoz , Mathieu Porez , Philippe Wenger

Cablecon 2025 - Seventh International Conference on Cable-Driven Parallel Robots, The Chinese University of Hong Kong, Hong Kong SAR, China; University of Duisburg-Essen, Germany; University of Stuttgart, Germany, Jul 2025, Hong Kong, China

Communication dans un congrès hal-05093495v1
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Optimizing Robot Positioning Against Placement Inaccuracies: A Study on the Fanuc CRX10iA/L

Nicolas Gautier , Yves Guillermit , Mathieu Porez , David Lemoine , Damien Chablat

ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2025, Anaheim, France. ⟨10.1115/DETC2025-168741⟩

Communication dans un congrès hal-05370822v1
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Study of the Basin of Attraction in Bird Passive Balance

Roxane Vimbert , Mathieu Porez , Alessandro Colotti , Alexandre Goldsztejn , Christine Chevallereau

Living Machines, Jul 2025, Scheffield, United Kingdom

Communication dans un congrès hal-05263262v1
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Comparison of robot morphologies and base positioning for welding applications

Nicolas Gautier , Yves Guillermit , Yazid Sebsadji , Mathieu Porez , Damien Chablat

ASME 2024: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2024, Washignton DC, United States. pp.DETC2024-143459, V007T07A026, ⟨10.1115/DETC2024-143459⟩

Communication dans un congrès hal-04637286v1
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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-01717312v1
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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-00861321v2
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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-01008793v1

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-01206883v1
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Action-Perception Trade-Offs for Anguilliform Swimming Robotic Platforms with an Electric Sense

Yannick Morel , Mathieu Porez , Auke Ijspeert

IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV'2012), Apr 2012, Porto, Portugal. pp.1-6

Communication dans un congrès hal-00761292v1
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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-00761287v1
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Estimation of relative position and coordination of mobile underwater robotic platforms through electric sensing.

Yannick Morel , Mathieu Porez , Auke Ijspeert

IEEE International Conference on Robotics and Automation, May 2012, St. Paul, United States. pp.1131-1136

Communication dans un congrès hal-00761268v1
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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-00630762v1

Nonlinear motion control of CPG-based movement with applications to a class of swimming robots

Yannick Morel , Mathieu Porez , Alexander Leonessa , Auke Jan Ijspeert

IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, United States. pp.0-6

Communication dans un congrès hal-00647063v1
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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-00704063v1

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-01156301v1

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-00327533v1

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-01156249v1
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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-00287819v1
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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-00199433v1

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-00124331v1