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

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

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