S. Neppalli, B. Jones, W. Mcmahan, V. Chitrakaran, I. Walker et al., OctArm - A soft robotic manipulator, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2569-2569, 2007.
DOI : 10.1109/IROS.2007.4399146

W. Mcmahan, B. Jones, and I. D. Walker, Design and implementation of a multi-section continuum robot: Air-Octor, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2578-2585, 2005.
DOI : 10.1109/IROS.2005.1545487

Q. Zhao and F. Gao, Design and analysis of a kind of biomimetic continuum robot, 2010 IEEE International Conference on Robotics and Biomimetics, pp.1316-1320, 2010.
DOI : 10.1109/ROBIO.2010.5723519

T. Zheng, Y. Yang, D. T. Branson, R. Kang, E. Guglielmino et al., Control design of shape memory alloy based multi-arm continuum robot inspired by octopus, 2014 9th IEEE Conference on Industrial Electronics and Applications, pp.1108-1113, 2014.
DOI : 10.1109/ICIEA.2014.6931331

J. S. Mehling, M. A. Diftler, M. Chu, and M. Valvo, A Minimally Invasive Tendril Robot for In-Space Inspection, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.690-695, 2006.
DOI : 10.1109/BIOROB.2006.1639170

A. Yamada, S. Naka, S. Morikawa, and T. Tani, Mri compatible continuum robot based on closed elastica with bending and twisting, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3187-3192, 2014.

A. Shiva, A. Stilli, Y. Noh, A. Faragasso, I. De-falco et al., Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.632-637, 2016.
DOI : 10.1109/LRA.2016.2523120

T. Kato, I. Okumura, S. Song, A. J. Golby, and N. Hata, Tendon-Driven Continuum Robot for Endoscopic Surgery: Preclinical Development and Validation of a Tension Propagation Model, IEEE/ASME Transactions on Mechatronics, vol.20, issue.5, pp.2252-2263, 2015.
DOI : 10.1109/TMECH.2014.2372635

N. Simaan, R. Taylor, and P. Flint, A dexterous system for laryngeal surgery, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.351-357, 2004.
DOI : 10.1109/ROBOT.2004.1307175

M. Cianchetti, T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer et al., Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach, Soft Robotics, vol.1, issue.2, pp.122-131, 2014.
DOI : 10.1089/soro.2014.0001

D. Haraguchi, T. Kanno, K. Tadano, and K. Kawashima, A Pneumatically Driven Surgical Manipulator With a Flexible Distal Joint Capable of Force Sensing, IEEE/ASME Transactions on Mechatronics, vol.20, issue.6, pp.2950-2961, 2015.
DOI : 10.1109/TMECH.2015.2415838

M. W. Hannan and I. D. Walker, Analysis and initial experiments for a novel elephant's trunk robot, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), pp.330-337, 2000.
DOI : 10.1109/IROS.2000.894627

B. Jones and I. D. Walker, Kinematics for multisection continuum robots, IEEE Transactions on Robotics, vol.22, issue.1, pp.43-55, 2006.
DOI : 10.1109/TRO.2005.861458

B. Bardou, P. Zanne, F. Nageotte, and M. De-mathelin, Control of a multiple sections flexible endoscopic system, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2345-2350, 2010.
DOI : 10.1109/IROS.2010.5649221

T. Mahl, A. Hildebrandt, and O. Sawodny, A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant, IEEE Transactions on Robotics, vol.30, issue.4, pp.935-949, 2014.
DOI : 10.1109/TRO.2014.2314777

G. S. Chirikjian and J. W. Burdick, A modal approach to hyper-redundant manipulator kinematics, IEEE Transactions on Robotics and Automation, vol.10, issue.3, pp.343-354, 1994.
DOI : 10.1109/70.294209

D. C. Rucker and R. J. Webster, Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading, IEEE Transactions on Robotics, vol.27, issue.6, pp.1033-1044, 2011.
DOI : 10.1109/TRO.2011.2160469

G. Smoljkic, D. Reynaerts, J. Vander-sloten, and E. Vander-poorten, Compliance computation for continuum types of robots, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1066-1073, 2014.
DOI : 10.1109/IROS.2014.6942690

B. Jones, R. L. Gray, and K. Turlapati, Three dimensional statics for continuum robotics, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2659-2664, 2009.
DOI : 10.1109/IROS.2009.5354199

M. Giorelli, F. Renda, M. Calisti, A. Arienti, G. Ferri et al., A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm, 2012 IEEE International Conference on Robotics and Automation, pp.3819-3824, 2012.
DOI : 10.1109/ICRA.2012.6225254

F. Connolly, P. Polygerinos, C. J. Walsh, and K. Bertoldi, Mechanical Programming of Soft Actuators by Varying Fiber Angle, Soft Robotics, vol.2, issue.1, pp.26-32, 2015.
DOI : 10.1089/soro.2015.0001

E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt et al., Registration by interactive inverse simulation: application for adaptive radiotherapy, International Journal of Computer Assisted Radiology and Surgery, vol.47, issue.3/4, pp.1193-1200, 2015.
DOI : 10.1145/2576802.2576806
URL : https://hal.archives-ouvertes.fr/hal-01261302

C. A. Felippa, A systematic approach to the element-independent corotational dynamics of finite elements Center for Aerospace Structures Document Number CU-CAS-00-03, 2000.

F. Faure, C. Duriez, H. Delingette, J. Allard, B. Gilles et al., SOFA: A Multi-Model Framework for Interactive Physical Simulation, pp.283-321, 2012.
DOI : 10.1007/8415_2012_125
URL : https://hal.archives-ouvertes.fr/hal-00681539

A. Rodríguez, E. Coevoet, and C. Duriez, Real-time simulation of hydraulic components for interactive control of soft robots, 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
DOI : 10.1109/ICRA.2017.7989575

C. Duriez, Control of elastic soft robots based on real-time finite element method, 2013 IEEE International Conference on Robotics and Automation, pp.3982-3987, 2013.
DOI : 10.1109/ICRA.2013.6631138
URL : https://hal.archives-ouvertes.fr/hal-00823766

F. Largilliere, V. Verona, E. Coevoet, M. Sanz-lopez, J. Dequidt et al., Real-time control of soft-robots using asynchronous finite element modeling, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.2550-2555, 2015.
DOI : 10.1109/ICRA.2015.7139541
URL : https://hal.archives-ouvertes.fr/hal-01163760

J. S. Przemieniecki, Theory of matrix structural analysis. Courier Corporation, United States, 1985.

A. Fabri and S. Pion, CGAL, Proceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, GIS '09, pp.538-539, 2009.
DOI : 10.1145/1653771.1653865
URL : https://hal.archives-ouvertes.fr/cel-00340448

C. Escande, P. M. Pathak, R. Merzouki, and V. Coelen, Modelling of multisection bionic manipulator: Application to RobotinoXT, 2011 IEEE International Conference on Robotics and Biomimetics, pp.92-97, 2011.
DOI : 10.1109/ROBIO.2011.6181268
URL : https://hal.archives-ouvertes.fr/hal-00758389

C. Escande, R. Merzouki, P. M. Pathak, and V. Coelen, Geometric modelling of multisection bionic manipulator: Experimental validation on RobotinoXT, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.2006-2011
DOI : 10.1109/ROBIO.2012.6491263
URL : https://hal.archives-ouvertes.fr/hal-00758381

. Pathak, Kinematic calibration of a multisection bionic manipulator, IEEE/ASME Transactions on Mechatronics, vol.20, issue.2, pp.663-674, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01447773

O. Lakhal, A. Melingui, and R. Merzouki, Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator, IEEE/ASME Transactions on Mechatronics, vol.21, issue.3, pp.1326-1335, 2016.
DOI : 10.1109/TMECH.2015.2490180
URL : https://hal.archives-ouvertes.fr/hal-01660738

H. Courtecuisse, J. Allard, C. Duriez, and S. Cotin, Preconditionerbased contact response and application to cataract surgery, Medical Image Computing and Computer-Assisted Intervention, pp.315-322, 2011.
DOI : 10.1007/978-3-642-23623-5_40
URL : https://hal.archives-ouvertes.fr/hal-00685593

J. Bosman, T. M. Bieze, O. Lakhal, M. Sanz, R. Merzouki et al., Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.4373-4378, 2015.
DOI : 10.1109/ICRA.2015.7139803
URL : https://hal.archives-ouvertes.fr/hal-01183293

M. Ivanescu, N. Bizdoaca, and D. Pana, Dynamic control for a tentacle manipulator with SMA actuators, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.2079-2084, 2003.
DOI : 10.1109/ROBOT.2003.1241900

M. C. Yip and D. B. Camarillo, Model-Less Feedback Control of Continuum Manipulators in Constrained Environments, IEEE Transactions on Robotics, vol.30, issue.4, pp.880-889, 2014.
DOI : 10.1109/TRO.2014.2309194

R. S. Penning, J. Jung, J. A. Borgstadt, N. J. Ferrier, and M. R. Zinn, Towards closed loop control of a continuum robotic manipulator for medical applications, 2011 IEEE International Conference on Robotics and Automation, pp.4822-4827, 2011.
DOI : 10.1109/ICRA.2011.5980233

R. S. Penning, J. Jung, N. J. Ferrier, and M. R. Zinn, An evaluation of closed-loop control options for continuum manipulators, 2012 IEEE International Conference on Robotics and Automation, pp.5392-5397, 2012.
DOI : 10.1109/ICRA.2012.6224735

T. A. Johansen and T. I. Fossen, Control allocation???A survey, Automatica, vol.49, issue.5, pp.1087-1103, 2013.
DOI : 10.1016/j.automatica.2013.01.035

A. M. Lyapunov, The general problem of the stability of motion, International Journal of Control, vol.55, issue.3, pp.531-534, 1992.
DOI : 10.1080/00207179208934253

J. F. Sturm, Using sedumi 1.02, a matlab toolbox for optimization over symmetric cones Optimization methods and software, pp.625-653, 1999.
DOI : 10.1080/10556789908805766
URL : http://www.unimaas.nl/~sturm/papers/guide.ps.gz

J. Lofberg, YALMIP : a toolbox for modeling and optimization in MATLAB, 2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508), pp.284-289, 2004.
DOI : 10.1109/CACSD.2004.1393890

S. Marchesseau, T. Heimann, S. Chatelin, R. Willinger, and H. Delingette, Multiplicative Jacobian Energy Decomposition Method for Fast Porous Visco-Hyperelastic Soft Tissue Model, International Conference on Medical Image Computing and Computer-Assisted Intervention, pp.235-242, 2010.
DOI : 10.1007/978-3-642-15705-9_29
URL : https://hal.archives-ouvertes.fr/hal-00593207