{"id":"https://openalex.org/W4383066234","doi":"https://doi.org/10.1109/icra48891.2023.10161537","title":"Direct and inverse modeling of soft robots by learning a condensed FEM model","display_name":"Direct and inverse modeling of soft robots by learning a condensed FEM model","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066234","doi":"https://doi.org/10.1109/icra48891.2023.10161537"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2307.11408","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007858263","display_name":"Etienne M\u00e9nager","orcid":"https://orcid.org/0000-0003-0827-7015"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Etienne M\u00e9nager","raw_affiliation_strings":["Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032837179","display_name":"Tanguy Navez","orcid":"https://orcid.org/0000-0001-7354-8323"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tanguy Navez","raw_affiliation_strings":["Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000950523","display_name":"Olivier Goury","orcid":"https://orcid.org/0000-0002-8616-350X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Goury","raw_affiliation_strings":["Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille,Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"530","last_page":"536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.7715033888816833},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6424729824066162},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6273293495178223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48069483041763306},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3509605824947357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2803500294685364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25490903854370117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18198612332344055},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16315525770187378},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07688355445861816}],"concepts":[{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.7715033888816833},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6424729824066162},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6273293495178223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48069483041763306},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3509605824947357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2803500294685364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25490903854370117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18198612332344055},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16315525770187378},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07688355445861816}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48891.2023.10161537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2307.11408","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.11408","pdf_url":"https://arxiv.org/pdf/2307.11408","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-04167863v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04167863","pdf_url":"https://inria.hal.science/hal-04167863/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. pp.530-536, &#x27E8;10.1109/ICRA48891.2023.10161537&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/86337","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2307.11408","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.11408","pdf_url":"https://arxiv.org/pdf/2307.11408","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G881690216","display_name":"Doctoral studies in AI in Lille","funder_award_id":"ANR-20-THIA-0014","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320313934","display_name":"Institut national de recherche en informatique et en automatique (INRIA)","ror":"https://ror.org/02kvxyf05"},{"id":"https://openalex.org/F4320316137","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383066234.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1431698572","https://openalex.org/W1614964691","https://openalex.org/W1826399803","https://openalex.org/W2013439434","https://openalex.org/W2038128936","https://openalex.org/W2097770951","https://openalex.org/W2101667962","https://openalex.org/W2146990154","https://openalex.org/W2156218502","https://openalex.org/W2587897321","https://openalex.org/W2754695199","https://openalex.org/W2768326939","https://openalex.org/W2787666871","https://openalex.org/W2805516822","https://openalex.org/W2884288731","https://openalex.org/W2897782084","https://openalex.org/W2923438774","https://openalex.org/W3036541334","https://openalex.org/W3037969311","https://openalex.org/W3133349997","https://openalex.org/W3183587279","https://openalex.org/W3201549434","https://openalex.org/W4251181231","https://openalex.org/W6683139051","https://openalex.org/W6733429330","https://openalex.org/W6744108890","https://openalex.org/W6751796012","https://openalex.org/W6798418225","https://openalex.org/W6802074662"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"The":[0],"Finite":[1],"Element":[2],"Method":[3],"(FEM)":[4],"is":[5,60],"a":[6,46,51,72,88,133],"powerful":[7],"modeling":[8],"tool":[9],"for":[10,20,25,169,178],"predicting":[11],"the":[12,35,67,75,95,109,115,146,151,156,159,170,187],"behavior":[13],"of":[14,27,34,74,91,103,114,132,136,173],"soft":[15,138,174],"robots.":[16],"However,":[17],"its":[18],"use":[19],"control":[21,172],"can":[22,84,107],"be":[23,85,98],"difficult":[24],"non-specialists":[26],"numerical":[28],"computation:":[29],"it":[30,39],"requires":[31],"an":[32,130],"optimization":[33],"computation":[36],"to":[37,49,121],"make":[38],"real-time.":[40],"In":[41],"this":[42,81],"paper,":[43],"we":[44,106],"propose":[45],"learning-based":[47],"approach":[48],"obtain":[50],"compact":[52,82,160],"but":[53,176],"sufficiently":[54],"rich":[55],"mechanical":[56],"representation.":[57],"Our":[58],"choice":[59],"based":[61],"on":[62,129],"non-linear":[63],"compliance":[64],"data":[65,92],"in":[66,101,127,186],"actuator/effector":[68],"space":[69],"provided":[70],"by":[71,144],"condensation":[73],"FEM":[76,153],"model.":[77],"We":[78,117],"demonstrate":[79],"that":[80],"model":[83,148,154],"learned":[86,125,161],"with":[87],"reasonable":[89],"amount":[90],"and,":[93],"at":[94],"same":[96],"time,":[97],"very":[99],"efficient":[100],"terms":[102],"modeling,":[104],"since":[105],"deduce":[108],"direct":[110],"and":[111,155],"inverse":[112,147],"kinematics":[113],"robot.":[116],"also":[118,177,184],"show":[119],"how":[120],"couple":[122],"some":[123],"models":[124],"individually":[126],"particular":[128],"example":[131],"gripper":[134],"composed":[135],"two":[137],"fingers.":[139],"Other":[140],"results":[141],"are":[142,183],"shown":[143],"comparing":[145],"derived":[149],"from":[150,158],"full":[152],"one":[157],"version.":[162],"This":[163],"work":[164],"opens":[165],"new":[166],"perspectives,":[167],"namely":[168],"embedded":[171],"robots,":[175],"their":[179],"design.":[180],"These":[181],"perspectives":[182],"discussed":[185],"paper.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
