{"id":"https://openalex.org/W2589689440","doi":"https://doi.org/10.1109/simpar.2016.7862384","title":"Framework for online simulation of soft robots with optimization-based inverse model","display_name":"Framework for online simulation of soft robots with optimization-based inverse model","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2589689440","doi":"https://doi.org/10.1109/simpar.2016.7862384","mag":"2589689440"},"language":"en","primary_location":{"id":"doi:10.1109/simpar.2016.7862384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"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"]},{"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/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"C. Duriez","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037796538","display_name":"Eulalie Coevoet","orcid":"https://orcid.org/0000-0002-4701-6056"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"E. Coevoet","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055320279","display_name":"Frederick Largilliere","orcid":null},"institutions":[{"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/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Largilliere","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107347493","display_name":"T. Morales-Bieze","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"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":"T. Morales-Bieze","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608776","display_name":"Zhongkai Zhang","orcid":"https://orcid.org/0000-0003-3910-1055"},"institutions":[{"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/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Z. Zhang","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067794650","display_name":"Mario Sanz Lopez","orcid":"https://orcid.org/0000-0003-2096-3472"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","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"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Sanz-Lopez","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070566111","display_name":"Bruno Carrez","orcid":null},"institutions":[{"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/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Carrez","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030897056","display_name":"Damien Marchal","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Marchal","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","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":"funder","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"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Goury","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060517543","display_name":"J\u00e9r\u00e9mie Dequidt","orcid":"https://orcid.org/0000-0001-9778-4742"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Dequidt","raw_affiliation_strings":["INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France"],"affiliations":[{"raw_affiliation_string":"INRIA, CNRS, University of Lille and Ecole Centrale de Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5050114678"],"corresponding_institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1326498283","https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":2.55707997,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.89910523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"111","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7828030586242676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6829352378845215},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6236969828605652},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5714571475982666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5476977229118347},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5189540386199951},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.4458343982696533},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4400930106639862},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4173007011413574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35085329413414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17120298743247986},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11789208650588989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07766065001487732}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7828030586242676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6829352378845215},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6236969828605652},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5714571475982666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5476977229118347},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5189540386199951},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.4458343982696533},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4400930106639862},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4173007011413574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35085329413414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17120298743247986},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11789208650588989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07766065001487732},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/simpar.2016.7862384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W427907635","https://openalex.org/W1515749184","https://openalex.org/W1605573896","https://openalex.org/W1614964691","https://openalex.org/W1704704075","https://openalex.org/W1919206795","https://openalex.org/W1964395786","https://openalex.org/W1974358693","https://openalex.org/W1979987057","https://openalex.org/W1984187759","https://openalex.org/W1992319886","https://openalex.org/W1996028840","https://openalex.org/W2025613329","https://openalex.org/W2025677618","https://openalex.org/W2028033000","https://openalex.org/W2031303964","https://openalex.org/W2031973565","https://openalex.org/W2079574144","https://openalex.org/W2082772288","https://openalex.org/W2097770951","https://openalex.org/W2118177844","https://openalex.org/W2120375188","https://openalex.org/W2122352986","https://openalex.org/W2124992704","https://openalex.org/W2138103367","https://openalex.org/W2141905643","https://openalex.org/W2146990154","https://openalex.org/W2149165496","https://openalex.org/W2167340365","https://openalex.org/W2228334213","https://openalex.org/W2295282371","https://openalex.org/W2540018565","https://openalex.org/W2610992585","https://openalex.org/W4233081362","https://openalex.org/W4235882260","https://openalex.org/W4244367163","https://openalex.org/W4251181231","https://openalex.org/W6641676148","https://openalex.org/W6648580776","https://openalex.org/W6678262465","https://openalex.org/W6680478809"],"related_works":["https://openalex.org/W2074745806","https://openalex.org/W1508899372","https://openalex.org/W1600454385","https://openalex.org/W1997033546","https://openalex.org/W3120556963","https://openalex.org/W1979241556","https://openalex.org/W4312473168","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W4312269480"],"abstract_inverted_index":{"Soft":[0],"robotics":[1,7],"is":[2,141,148],"an":[3,53,109],"emerging":[4],"field":[5],"of":[6,51,127],"which":[8,112],"requires":[9],"computer-aided":[10],"tools":[11],"to":[12,46,91,114],"simulate":[13],"soft":[14,133],"robots":[15,118,134],"and":[16,71],"provide":[17],"models":[18],"for":[19,56,66],"their":[20],"control.":[21],"Until":[22],"now,":[23],"no":[24],"unified":[25,80],"software":[26,147],"framework":[27,40,55,61],"covering":[28],"the":[29,68,88,116,120,125,128,139],"different":[30],"aspects":[31],"exists.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36,130],"present":[37,131],"such":[38],"a":[39,79,98],"from":[41,151],"its":[42,47,95,144],"theoretical":[43],"foundations":[44],"up":[45],"implementation":[48],"on":[49,63,83],"top":[50],"SOFA,":[52],"open-source":[54],"deformable":[57],"online":[58,107],"simulation.":[59],"The":[60,101,146],"relies":[62],"continuum":[64],"mechanics":[65],"modeling":[67],"robotic":[69],"parts":[70],"boundary":[72],"conditions":[73],"like":[74],"actuators":[75],"or":[76],"contacts":[77],"using":[78,97,108],"representation":[81],"based":[82],"Lagrange":[84],"multipliers.":[85],"It":[86],"enables":[87],"digital":[89],"robot":[90,140],"be":[92,105],"simulated":[93],"in":[94,119],"environment":[96],"direct":[99],"model.":[100],"model":[102],"can":[103],"also":[104],"inverted":[106],"optimization-based":[110],"method":[111],"allows":[113],"control":[115],"physical":[117],"task":[121],"space.":[122],"To":[123],"demonstrate":[124],"effectiveness":[126],"approach,":[129],"various":[132],"scenarios":[135],"including":[136],"ones":[137],"where":[138],"interacting":[142],"with":[143],"environment.":[145],"freely":[149],"available":[150],"https://project.inria.fr/softrobot/":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}