Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization. - Mathew, Anup Teejo; Talegon, Daniel Feliú; AlKayas, AbdulAziz Y.; Boyer, Frédéric; Renda, Federico (Int. J. Robotics Res., 2025)

Continuum concentric push-pull robots: A Cosserat rod model. - Tummers, Matthias; Boyer, Frédéric; Lebastard, Vincent; Offermann, Alexis; Troccaz, Jocelyne; Rosa, Benoît; Chikhaoui, Mohamed Taha (Int. J. Robotics Res., 2025)

Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots. - Ouyoucef, Azouaou; Peyron, Quentin; Lebastard, Vincent; Renda, Federico; Zheng, Gang; Boyer, Frédéric (IEEE Robotics Autom. Lett., 2025)

Modeling, analysis and design of an extensible planar parallel tendon actuated continuum robot. - Ouyoucef, Azouaou; Peyron, Quentin; Zheng, Gang; Boyer, Frédéric (2025)

Implicit Time-Integration Simulation of Robots With Rigid Bodies and Cosserat Rods Based on a Newton-Euler Recursive Algorithm. - Boyer, Frédéric; Gotelli, Andrea; Tempel, Philipp; Lebastard, Vincent; Renda, Federico; Briot, Sébastien (IEEE Trans. Robotics, 2024)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics. - Pustina, Pietro; Santina, Cosimo Della; Boyer, Frédéric; Luca, Alessandro De; Renda, Federico (IEEE Trans. Robotics, 2024)

Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots. - Mathew, Anup Teejo; Boyer, Frédéric; Lebastard, Vincent; Renda, Federico (CoRR, 2024)

SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach. - Mathew, Anup Teejo; Hmida, Ikhlas Mohamed Ben; Armanini, Costanza; Boyer, Frédéric; Renda, Federico (IEEE Robotics Autom. Mag., 2023)

A Geometrically Exact Assumed Strain Modes Approach for the Geometrico- and Kinemato-Static Modelings of Continuum Parallel Robots. - Briot, Sébastien; Boyer, Frédéric (IEEE Trans. Robotics, 2023)

Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories. - Boyer, Frédéric; Lebastard, Vincent; Candelier, Fabien; Renda, Federico; Alamir, Mazen (IEEE Trans. Robotics, 2023)

Soft Robots Modeling: A Structured Overview. - Armanini, Costanza; Boyer, Frédéric; Mathew, Anup Teejo; Duriez, Christian; Renda, Federico (IEEE Trans. Robotics, 2023)

Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives. - Tummers, Matthias; Lebastard, Vincent; Boyer, Frédéric; Troccaz, Jocelyne; Rosa, Benoît; Chikhaoui, Mohamed Taha (IEEE Trans. Robotics, 2023)

Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure. - Xie, Xiao; Herault, Johann; Lebastard, Vincent; Boyer, Frédéric (2023)

On the Collocated Form with Input Decoupling of Lagrangian Systems. - Pustina, Pietro; Santina, Cosimo Della; Boyer, Frédéric; Luca, Alessandro De; Renda, Federico (CoRR, 2023)

Geometrically-Exact Inverse Kinematic Control of Soft Manipulators With General Threadlike Actuators' Routing. - Renda, Federico; Armanini, Costanza; Mathew, Anup Teejo; Boyer, Frédéric (IEEE Robotics Autom. Lett., 2022)

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. - Renda, Federico; Messer, Conor; Rucker, D. Caleb; Boyer, Frédéric (IEEE Robotics Autom. Lett., 2021)

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing. - Thandiackal, Robin; Melo, Kamilo; Paez, Laura; Herault, Johann; Kano, Takeshi; Akiyama, Kyoichi; Boyer, Frédéric; Ryczko, Dimitri; Ishiguro, Akio; Ijspeert, Auke Jan (Sci. Robotics, 2021)

Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach. - Boyer, Frédéric; Lebastard, Vincent; Candelier, Fabien; Renda, Federico (IEEE Trans. Robotics, 2021)

Quasi-static motion of a new serial snake-like robot on a water surface: a geometrical approach. - Xie, Xiao; Herault, Johann; Clement, Étienne; Lebastard, Vincent; Boyer, Frédéric (2021)

Underwater communication with artificial electric sense. - Boukens, Mohamed; Lebastard, Vincent; Vuuren, Godfried Jansen van; Boyer, Frédéric (2021)

SoRoSim: a MATLAB Toolbox for Soft Robotics Based on the Geometric Variable-strain Approach. - Mathew, Anup Teejo; Hmida, Ikhlas Mohamed Ben; Armanini, Costanza; Boyer, Frédéric; Renda, Federico (CoRR, 2021)

Soft Robots Modeling: a Literature Unwinding. - Armanini, Costanza; Messer, Conor; Mathew, Anup Teejo; Boyer, Frédéric; Duriez, Christian; Renda, Federico (CoRR, 2021)

Underwater pre-touch based on artificial electric sense. - Boyer, Frédéric; Lebastard, Vincent; Ferrer, Steven Bruce; Geffard, Franck (Int. J. Robotics Res., 2020)

A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation. - Renda, Federico; Armanini, Costanza; Lebastard, Vincent; Candelier, Fabien; Boyer, Frédéric (IEEE Robotics Autom. Lett., 2020)

A Purely Model-Based Approach to Object Pose and Size Estimation With Electric Sense. - Bazeille, Stéphane; Lebastard, Vincent; Boyer, Frédéric (IEEE Trans. Robotics, 2020)

Standing on the Water: Stability Mechanisms of Snakes on Free Surface. - Herault, Johann; Clement, Étienne; Brossillon, Jonathan; LaGrange, Seth; Lebastard, Vincent; Boyer, Frédéric (2020)

Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot. - Venkateswaran, Swaminath; Chablat, Damien; Boyer, Frédéric (Robotics, 2019)

A unified multi-soft-body dynamic model for underwater soft robots. - Renda, Federico; Giorgio-Serchi, Francesco; Boyer, Frédéric; Laschi, Cecilia; Dias, Jorge; Seneviratne, Lakmal D. (Int. J. Robotics Res., 2018)

Reduced Dynamics of the Non-holonomic Whipple Bicycle. - Boyer, Frédéric; Porez, Mathieu; Mauny, Johan (J. Nonlinear Sci., 2018)

Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics. - Renda, Federico; Boyer, Frédéric; Dias, Jorge; Seneviratne, Lakmal D. (IEEE Trans. Robotics, 2018)

Model based estimation of ellipsoidal object using artificial electric sense. - Lanneau, Sylvain; Boyer, Frédéric; Lebastard, Vincent; Bazeille, Stéphane (Int. J. Robotics Res., 2017)

Poincaré's Equations for Cosserat Media: Application to Shells. - Boyer, Frédéric; Renda, Federico (J. Nonlinear Sci., 2017)

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming. - Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick (J. Nonlinear Sci., 2017)

Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics. - Renda, Federico; Boyer, Frédéric; Dias, Jorge Manuel Miranda; Seneviratne, Lakmal D. (CoRR, 2017)

Neural-based underwater surface localization through electrolocation. - Morel, Yannick; Lebastard, Vincent; Boyer, Frédéric (2016)

Object shape recognition using electric sense and ellipsoid's polarization tensor. - Lanneau, Sylvain; Lebastard, Vincent; Boyer, Frédéric (2016)

Underwater navigation based on passive electric sense: New perspectives for underwater docking. - Boyer, Frédéric; Lebastard, Vincent; Chevallereau, Christine; Mintchev, Stefano; Stefanini, Cesare (Int. J. Robotics Res., 2015)

Erratum to "Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics". - Boyer, Frédéric; Belkhiri, Ayman (IEEE Trans. Robotics, 2015)

Poincaré Equations for Cosserat Shells: Application to Cephalopod Locomotion. - Boyer, Frédéric; Renda, Federico (2015)

Neural-based underwater spherical object localization through electrolocation. - Morel, Yannick; Lebastard, Vincent; Boyer, Frédéric (2015)

Locomotion and elastodynamics model of an underwater shell-like soft robot. - Renda, Federico; Giorgio-Serchi, Francesco; Boyer, Frédéric; Laschi, Cecilia (2015)

A Multi-soft-body Dynamic Model for Underwater Soft Robots. - Renda, Federico; Giorgio-Serchi, Francesco; Boyer, Frédéric; Laschi, Cecilia; Dias, Jorge; Seneviratne, Lakmal D. (2015)

Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons. - Porez, Mathieu; Boyer, Frédéric; Ijspeert, Auke Jan (Int. J. Robotics Res., 2014)

Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics. - Boyer, Frédéric; Belkhiri, Ayman (IEEE Trans. Robotics, 2014)

Electric Sensor-Based Control of Underwater Robot Groups. - Chevallereau, Christine; Benachenhou, Mohammed-Redha; Lebastard, Vincent; Boyer, Frédéric (IEEE Trans. Robotics, 2014)

A hybrid dynamic model for bio-inspired soft robots - Application to a flapping-wing micro air vehicle. - Porez, Mathieu; Boyer, Frédéric; Belkhiri, Ayman (2014)

Computational morphology for a soft micro air vehicle in hovering flight. - Chevallereau, Christine; Porez, Mathieu; Boyer, Frédéric (2014)

Dynamic Model of a Jet-Propelled Soft Robot Inspired by the Octopus Mantle. - Renda, Federico; Boyer, Frédéric; Laschi, Cecilia (2014)

Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot. - Henry, Renaud; Chablat, Damien; Porez, Mathieu; Boyer, Frédéric; Kanaan, Daniel (CoRR, 2014)

Environment reconstruction and navigation with electric sense based on a Kalman filter. - Lebastard, Vincent; Chevallereau, Christine; Girin, Alexis; Servagent, Noël; Gossiaux, Pol Bernard; Boyer, Frédéric (Int. J. Robotics Res., 2013)

Underwater Reflex Navigation in Confined Environment Based on Electric Sense. - Boyer, Frédéric; Lebastard, Vincent; Chevallereau, Christine; Servagent, Noël (IEEE Trans. Robotics, 2013)

Synthesis of an electric sensor based control for underwater multi-agents navigation in a file. - Benachenhou, Mohammed-Redha; Chevallereau, Christine; Lebastard, Vincent; Boyer, Frédéric (2013)

Macrocontinuous Dynamics for Hyperredundant Robots: Application to Kinematic Locomotion Bioinspired by Elongated Body Animals. - Boyer, Frédéric; Ali, Shaukat; Porez, Mathieu (IEEE Trans. Robotics, 2012)

Model for a Sensor Inspired by Electric Fish. - Boyer, Frédéric; Gossiaux, Pol Bernard; Jawad, Brahim; Lebastard, Vincent; Porez, Mathieu (IEEE Trans. Robotics, 2012)

Localization of small objects with electric sense based on kalman filter. - Lebastard, Vincent; Chevallereau, Christine; Girin, Alexis; Boyer, Frédéric; Gossiaux, Pol Bernard (2012)

An underwater reconfigurable robot with bioinspired electric sense. - Mintchev, Stefano; Stefanini, Cesare; Girin, Alexis; Marrazza, Stefano; Orofino, Stefano; Lebastard, Vincent; Manfredi, Luigi; Dario, Paolo; Boyer, Frédéric (2012)

Underwater electro-navigation in the dark. - Lebastard, Vincent; Boyer, Frédéric; Chevallereau, Christine; Servagent, Noël (2012)

Electric sensor based control for underwater multi-agents navigation in formation. - Chevallereau, Christine; Boyer, Frédéric; Lebastard, Vincent; Benachenou, M. (2012)

Exploration of Objects by an Underwater Robot with Electric Sense. - Boyer, Frédéric; Lebastard, Vincent (2012)

A hybrid dynamic model of an insect-like MAV with soft wings. - Belkhiri, Ayman; Porez, Mathieu; Boyer, Frédéric (2012)

Bacterial syntenies: an exact approach with gene quorum. - Deniélou, Yves-Pol; Sagot, Marie-France; Boyer, Frédéric; Viari, Alain (BMC Bioinform., 2011)

Recursive Inverse Dynamics of Mobile Multibody Systems With Joints and Wheels. - Boyer, Frédéric; Ali, Shaukat (IEEE Trans. Robotics, 2011)

Multi-physics model of an electric fish-like robot: Numerical aspects and application to obstacle avoidance. - Porez, Mathieu; Lebastard, Vincent; Ijspeert, Auke Jan; Boyer, Frédéric (2011)

Towards an Electric-Sense-Based Bioinspired Embodied Robotic Perception System: The Modelling Aspect. - Jawad, Brahim; Gossiaux, Pol Bernard; Boyer, Frédéric (2011)

Terrestrial Locomotion Modeling Bio-inspired by Elongated Animals. - Ali, Shaukat; Boyer, Frédéric; Porez, Mathieu (2011)

WellReader: a MATLAB program for the analysis of fluorescence and luminescence reporter gene data. - Boyer, Frédéric; Besson, Bruno; Baptist, Guillaume; Izard, Jérôme; Pinel, Corinne; Ropers, Delphine; Geiselmann, Johannes; Jong, Hidde de (Bioinform., 2010)

Poincaré-Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics. - Boyer, Frédéric; Porez, Mathieu; Leroyer, Alban (J. Nonlinear Sci., 2010)

Underwater robot navigation around a sphere using electrolocation sense and Kalman filter. - Lebastard, Vincent; Chevallereau, Christine; Amrouche, Ali; Jawad, Brahim; Girin, Alexis; Boyer, Frédéric; Gossiaux, Pol Bernard (2010)

Sensor model for the navigation of underwater vehicles by the electric sense. - Jawad, Brahim; Gossiaux, Pol Bernard; Boyer, Frédéric; Lebastard, Vincent; Gomez, Francesco; Servagent, Noël; Bouvier, Stéphane; Girin, Alexis; Porez, Mathieu (2010)

On solving inverse problems for electric fish like robots. - Alamir, Mazen; Omar, Oumayma; Servagent, Noël; Girin, Alexis; Bellemain, Pascal; Lebastard, Vincent; Gossiaux, Pol Bernard; Boyer, Frédéric; Bouvier, Stéphane (2010)

Multiple Alignment of Biological Networks: A Flexible Approach. - Deniélou, Yves-Pol; Boyer, Frédéric; Viari, Alain; Sagot, Marie-France (2009)

Prediction of Contiguous Regions in the Amniote Ancestral Genome. - Ouangraoua, Aïda; Boyer, Frédéric; McPherson, Andrew W.; Tannier, Eric; Chauve, Cédric (2009)

The eel-like robot - Boyer, Frédéric; Chablat, Damien; Lemoine, Philippe; Wenger, Philippe (CoRR, 2009)

Lossless filter for multiple repetitions with Hamming distance. - Peterlongo, Pierre; Pisanti, Nadia; Boyer, Frédéric; Lago, Alair Pereira do; Sagot, Marie-France (J. Discrete Algorithms, 2008)

Fast Dynamics of an Eel-Like Robot - Comparisons With Navier-Stokes Simulations. - Boyer, Frédéric; Porez, Mathieu; Leroyer, Alban; Visonneau, Michel (IEEE Trans. Robotics, 2008)

Multi-variable constrained control approach for a three-dimensional eel-like robot. - Rafei, Maher El; Alamir, Mazen; Marchand, Nicolas; Porez, Mathieu; Boyer, Frédéric (2008)

Reduced mean model for controlling a three-dimensional eel-like robot. - Rafei, Maher El; Alamir, Mazen; Marchand, Nicolas; Porez, Mathieu; Boyer, Frédéric (2008)

Biomimetic localization using the electrolocation sense of the electric fish. - Baffet, Guillaume; Boyer, Frédéric; Gossiaux, Pol Bernard (2008)

Repseek, a tool to retrieve approximate repeats from large DNA sequences. - Achaz, Guillaume; Boyer, Frédéric; Rocha, Eduardo P. C.; Viari, Alain; Coissac, Eric (Bioinform., 2007)

Dynamic Modeling and Simulation of a 3-D Serial Eel-Like Robot. - Khalil, Wisama; Gallot, Guillaume; Boyer, Frédéric (IEEE Trans. Syst. Man Cybern. Part C, 2007)

Feedback design for 3D movement of an Eel-like robot. - Alamir, Mazen; Rafei, Maher El; Hafidi, G.; Marchand, Nicolas; Porez, Mathieu; Boyer, Frédéric (2007)

Macro-continuous computed torque algorithm for a three-dimensional eel-like robot. - Boyer, Frédéric; Porez, Mathieu; Khalil, Wisama (IEEE Trans. Robotics, 2006)

Syntons, metabolons and interactons: an exact graph-theoretical approach for exploring neighbourhood between genomic and functional data. - Boyer, Frédéric; Morgat, Anne; Labarre, Laurent; Pothier, Joël; Viari, Alain (Bioinform., 2005)

Dynamic Modeling of a 3-D Serial Eel-Like Robot. - Khalil, Wisama; Gallot, Guillaume; Ibrahim, Ouarda; Boyer, Frédéric (2005)

Lossless Filter for Finding Long Multiple Approximate Repetitions Using a New Data Structure, the Bi-factor Array. - Peterlongo, Pierre; Pisanti, Nadia; Boyer, Frédéric; Sagot, Marie-France (2005)

Reconstruction ab initio de voies métaboliques - Formalisation et approches combinatoires. - Boyer, Frédéric (2004)

Ab initio reconstruction of metabolic pathways. - Boyer, Frédéric; Viari, Alain (2003)

Simulation of Flexible Manipulators with Elastic Non-Linearities. - Boyer, Frédéric; Glandais, N. (1999)

An Efficient Calculation of Flexible Manipulator Inverse Dynamics. - Boyer, Frédéric; Khalil, Wisama (Int. J. Robotics Res., 1998)

Consistent first and second Order Dynamic Model of Flexible Manipulators. - Boyer, Frédéric; Glandais, N.; Khalil, Wisama (1998)

Generalization of Newton-Euler model for flexible manipulators. - Boyer, Frédéric; Coiffet, Philippe (J. Field Robotics, 1996)

Simulation of flexible manipulators using Newton-Euler inverse dynamic model. - Boyer, Frédéric; Khalil, Wisama (1996)

Simulation of an open chain of flexible links in a mixed formalism. - Boyer, Frédéric; Coiffet, Philippe (J. Field Robotics, 1995)

An Efficient Calculation of Computed Torque Control of Folexible Manipulators. - Khalil, Wisama; Boyer, Frédéric (1995)

Granular Resynthesis and Transformation of Sounds through Wavelet Transform Analysis. - Boyer, Frédéric; Kronland-Martinet, Richard (1989)