“Soft robotics and modeling”
symposium

Olivia Chevalier, postdoctoral researcher of the AS4 project, organises in Paris a 2-day symposium on modeling and soft robotics.

What are the different models used in soft robotics (FEM, Cosserat, particle, etc.) and what are their advantages and disadvantages? Including within the “same” model (Cosserat, mixed, etc.)? What are the modeling constraints (biomechanical, scale-dependent, etc.)?
The first day will be devoted to the following question: what phenomena are we trying to model (and simulate) and how do we proceed?
The second day will focus on their uses and interpretations (control and optimization, design, materials).

The programme and the speakers:

Monday 11th May

• 9am | Introduction
  Nicolas Vayatis (Borelli Centre & Teaching and Research Department in Mathematics · ENS Paris-Saclay)
• 10am | On the importance of modeling material behavior in soft robotics
  Christian Duriez (INRIA – Lille)
• 10:45 am – 11am | break
• 11am | ALE beam model on SE(3) for simulating cable-driven robots
  Olivier Brüls (University of Liège)
  Work co-author: Olivier Devigne (University of Liège)
• 11:45 am | The Cosserat beam model: foundations and applications
  Frédéric Boyer (IMT Atlantique)
• 12:30 am – 2pm | lunch
• 2pm | Rapid Simulation of Soft Robots with Contacts by a Hybrid Hyper-Reduction Method. Extension to Plasticity.
  Olivier Goury (INRIA – Grenoble)
• 2:45 pm | Simulation for elastocapillary problems in robotics
  Antoine Barbot (FEMTO)
• 3:30 pm | Differentiable simulation for deformable robotics
  Etienne Ménager (INRIA – Paris)
• 4:15 pm | Accelerating the modeling of soft actuators using AI models to enable the generative design of soft pneumatic actuators
  Loïc Mosser (ICube – Strasbourg)

Tuesday 12th May

• 9:30 am | From physical model to useful model: identification and dynamic control of soft robots from data
  Antoine Alessandrini (INRIA – Lille)
• 10:15 am | A walk through microscopic locomotion modeling
  Clément Moreau (IMT Atlantique)
• 11am – 11:15 am | break
• 11:15 am | Mechanical optimization of compliant structure for task efficient soft robots
  Felix Vanneste (INRIA – Lille)
• 12am | (De-) Inflatable surfaces
  Etienne Reyssat (CNRS – ESPCI)
• 12:45 am – 2:30 pm | lunch
• 2:30 pm | Towards the use of raw vegetal materials for eco-designed robotics: modeling and simulation challenges
  Quentin Peyron (INRIA – Lille)
• 3:15 pm | Does a model of animal locomotion exist? Selection, validation, and interpretation
  Johann Hérault (IMT Atlantique)
• 4pm | Some epistemological reflections on the contribution of soft robotics to the knowledge of living things
  Olivia Chevalier (Institut Mines-Telecom Business School)
• 4:45 pm – Panel | Flexible-deformable robots, living beings, and embodied intelligence
  Olivia Chevalier et Anthony Herrel (CNRS – National Museum of Natural History)