H. Abidi, G. Gerboni, M. Brancadoro, J. Fras, A. Diodato et al., Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.14, issue.1, 2018.

B. Aguiar, D. Berdjag, T. Guerra, and B. Demaya, Improving train position accuracy in case of wheel jamming faults, IFAC-PapersOnLine, vol.51, issue.26, 2018.

J. Allard, S. Cotin, F. Faure, P. Bensoussan, F. Poyer et al., Sofa-an open source framework for medical simulation, in 'MMVR 15-Medicine Meets Virtual Reality, vol.125, p.29, 2007.

J. Allard, H. Courtecuisse, and F. Faure, Implicit fem solver on gpu for interactive deformation simulation, in 'GPU computing gems Jade Edition, vol.27, pp.281-294, 2012.

B. An, S. Miyashita, A. Ong, M. Tolley, M. Demaine et al., An end-to-end approach to self-folding origami structures, IEEE Transactions on Robotics, vol.34, issue.6, pp.1409-1424, 2018.

A. C. Antoulas, Approximation of large-scale dynamical systems, vol.6, p.60, 2005.

P. Apkarian and H. D. Tuan, SIAM journal on control and optimization, vol.38, issue.4, pp.1241-1264, 2000.

A. Astolfi, Model reduction by moment matching for linear and nonlin-130 BIBLIOGRAPHY ear systems, IEEE Transactions on Automatic Control, vol.55, issue.10, p.55, 2010.

G. H. Ballantyne, Robotic surgery, telerobotic surgery, telepresence, and telementoring, Surgical endoscopy, vol.16, issue.10, pp.1389-1402, 2002.

S. Barrachina, P. Benner, E. S. Quintana-ortí, and G. Quintana-ortí, Parallel algorithms for balanced truncation of large-scale unstable systems, Proceedings of the 44th IEEE Conference on Decision and Control, vol.60, pp.2248-2253, 2005.

P. Benner and T. Breiten, Interpolation-based \calh 2-model reduction of bilinear control systems, SIAM Journal on Matrix Analysis and Applications, vol.33, issue.3, p.61, 2012.

P. Benner, T. Breiten, and T. Damm, Generalised tangential interpolation for model reduction of discrete-time mimo bilinear systems, International Journal of Control, vol.84, issue.8, p.61, 2011.

P. Benner, A. Cohen, M. Ohlberger, and K. Willcox, Model Reduction and Approximation: Theory and Algorithms, vol.15, p.56, 2017.

P. Benner and T. Mitchell, Faster and more accurate computation of the h ? norm via optimization, SIAM Journal on Scientific Computing, vol.40, issue.5, 2018.

P. Benner, T. Mitchell, and M. L. Overton, Low-order control design using a reduced-order model with a stability constraint on the full-order model, '2018 IEEE Conference on Decision and Control (CDC)', IEEE, vol.74, p.125, 2018.

P. Benner and J. Saak, Numerical solution of large and sparse continuous time algebraic matrix Riccati and Lyapunov equations: a state of the art survey, GAMM-Mitteilungen, vol.36, issue.1, pp.32-52, 2013.

B. Besselink, N. Van-de-wouw, J. M. Scherpen, and H. Nijmeijer, Model reduction for nonlinear systems by incremental balanced truncation, IEEE Transactions on Automatic Control, vol.59, issue.10, pp.2739-2753, 2014.

P. Boning and S. Dubowsky, Coordinated control of space robot teams for the on-orbit construction of large flexible space structures, Advanced Robotics, vol.24, issue.3, pp.303-323, 2010.

S. Boyd, L. El-ghaoui, E. Feron, and V. Balakrishnan, Linear matrix inequalities in system and control theory, vol.15, p.126, 1994.

B. Brogliato, Nonsmooth mechanics: models, dynamics and control, vol.113, p.117, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01236953

E. Brown, N. Rodenberg, J. Amend, A. Mozeika, E. Steltz et al., Universal robotic gripper based on the jamming of granular material, Proceedings of the National Academy of Sciences, vol.107, issue.44, pp.18809-18814, 2010.

D. Bruder, B. Gillespie, C. D. Remy, and R. Vasudevan, Modeling and control of soft robots using the koopman operator and model predictive control, vol.22, p.23, 2019.

M. Calisti, A. Arienti, M. E. Giannaccini, M. Follador, M. Giorelli et al., An octopus-bioinspired solution to movement and manipulation for soft robots, Biomedical Robotics and Biomechatronics, issue.5, 2010.

M. Calisti, M. Giorelli, G. Levy, B. Mazzolai, B. Hochner et al., An octopus-bioinspired solution to movement and manipulation for soft robots, Bioinspiration & biomimetics, vol.6, issue.3, 2011.

D. Chablat, S. Venkateswaran, and F. Boyer, Dynamic model of a bioinspired robot for piping inspection, in 'ROMANSY 22-Robot Design, Dynamics and Control, issue.6, pp.42-51, 2019.

J. Chenevier, D. González, J. V. Aguado, F. Chinesta, and E. Cueto, Reduced-order modeling of soft robots, PloS one, vol.13, issue.2, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01942890

M. Cianchetti, T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer et al., Soft robotics technologies to 132 BIBLIOGRAPHY address shortcomings in today's minimally invasive surgery: the stiffflop approach, Soft robotics, vol.1, issue.2, pp.122-131, 2014.

E. Coevoet, A. Escande, and C. Duriez, Optimization-based inverse model of soft robots with contact handling, IEEE Robotics and Automation Letters, vol.2, issue.3, p.116, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01500912

E. Coevoet, A. Escande, and C. Duriez, Soft robots locomotion and manipulation control using fem simulation and quadratic programming, p.19, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02079151

E. Coevoet, Software toolkit for modeling, simulation, and control of soft robots, Advanced Robotics, vol.31, issue.22, p.121, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01649355

R. D. Cook, Concepts and applications of finite element analysis, p.27, 2007.

J. Daafouz, P. Riedinger, and C. Iung, Stability analysis and control synthesis for switched systems: a switched lyapunov function approach, IEEE transactions on automatic control, vol.47, issue.11, pp.1883-1887, 2002.

R. Deimel and O. Brock, A novel type of compliant and underactuated robotic hand for dexterous grasping, The International Journal of Robotics Research, vol.35, issue.1-3, pp.161-185, 2016.

D. Santina, C. Bianchi, M. Grioli, G. Angelini, F. Catalano et al., Controlling soft robots: balancing feedback and feedforward elements, IEEE Robotics & Automation Magazine, vol.24, issue.3, p.120, 2017.

D. Santina, C. Katzschmann, R. K. Biechi, A. Rus, and D. , Dynamic control of soft robots interacting with the environment, in, IEEE International Conference on Soft Robotics (RoboSoft)', IEEE, vol.14, p.113, 2018.

D. Santina, C. Pallottino, L. Rus, D. Bicchi, and A. , Exact task execution in highly under-actuated soft limbs: an operational space based approach, IEEE Robotics and Automation Letters, vol.4, issue.3, pp.2508-2515, 2019.

D. Santina and C. , Learning from humans how to grasp: a datadriven architecture for autonomous grasping with anthropomorphic soft hands, IEEE Robotics and Automation Letters, vol.4, issue.2, pp.1533-1540, 2019.

F. Demourant and C. Poussot-vassal, A new frequency-domain subspace algorithm with restricted poles location through lmi regions and its application to a wind tunnel test, International Journal of Control, vol.90, issue.4, pp.779-799, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01385393

X. Diao and O. Ma, Workspace analysis of a 6-dof cable robot for hardware-in-the-loop dynamic simulation, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.18, pp.4103-4108, 2006.

Y. Ding, I. Galiana, A. T. Asbeck, S. M. De-rossi, J. Bae et al., Biomechanical and physiological evaluation of multi-joint assistance with soft exosuits, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.25, issue.2, 2017.

C. Duriez, Control of elastic soft robots based on real-time finite element method, in 'Robotics and Automation (ICRA), IEEE, vol.18, p.49, 2013.

V. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny, Modelbased feedforward position control of constant curvature continuum robots using feedback linearization, 2015 IEEE International Conference on Robotics and Automation (ICRA)', IEEE, pp.762-767, 2015.

G. Fang, X. Wang, K. Wang, K. Lee, J. D. Ho et al., Vision-based online learning kinematic control for soft robots using local gaussian process regression, IEEE Robotics and Automation Letters, vol.4, issue.2, 2019.

L. Faubourg, J. Pomet, K. Y. Chin, and C. D. Remy, Control lyapunov functions for homogeneous jurdjevic-quinn systems'. 44, 45 BIBLIOGRAPHY Felt, vol.4, pp.261-273, 2000.
URL : https://hal.archives-ouvertes.fr/inria-00072940

S. Felton, M. Tolley, E. Demaine, D. Rus, and R. Wood, A method for building self-folding machines, Science, vol.345, issue.6197, pp.644-646, 2014.

F. Fries, S. Miyashita, D. Rus, R. Pfeifer, and D. D. Damian, Electromagnetically driven elastic actuator, in 'Robotics and Biomimetics (ROBIO), IEEE, vol.12, pp.309-314, 2014.

P. Gahinet and P. Apkarian, A linear matrix inequality approach to h ? control, International journal of robust and nonlinear control, vol.4, issue.4, pp.421-448, 1994.

J. C. Geromel and P. Colaneri, Robust stability of time varying polytopic systems, Systems & Control Letters, vol.55, issue.1, pp.81-85, 2006.

J. C. Geromel and P. Colaneri, Stability and stabilization of discrete time switched systems, International Journal of Control, vol.79, issue.07, p.116, 2006.

M. T. Gillespie, C. M. Best, and M. D. Killpack, Simultaneous position and stiffness control for an inflatable soft robot, 2016 IEEE international conference on robotics and automation (ICRA)', IEEE, vol.12, pp.1095-1101, 2016.

O. Goury and C. Duriez, Fast, generic, and reliable control and simulation of soft robots using model order reduction, IEEE Transactions on Robotics, vol.17, p.55, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01834483

J. D. Greer, T. K. Morimoto, A. M. Okamura, and E. W. Hawkes, A soft, steerable continuum robot that grows via tip extension, Soft robotics, vol.6, pp.95-108, 2019.

S. Gugercin, A. C. Antoulas, and C. Beattie, H 2 model reduction for large-scale linear dynamical systems, SIAM journal on matrix analysis and applications, vol.30, issue.2, p.61, 2008.

A. Haber and M. Verhaegen, Sparse solution of the lyapunov equation for large-scale interconnected systems, Automatica, vol.73, issue.8, pp.256-268, 2016.

J. F. Hall, Problems encountered from the use (or misuse) of rayleigh damping, Earthquake engineering & structural dynamics, vol.35, issue.5, pp.525-545, 2006.

Y. Hao, Z. Gong, Z. Xie, S. Guan, X. Yang et al., Universal soft pneumatic robotic gripper with variable effective length, pp.6109-6114, 2016.

H. Hauser, A. J. Ijspeert, R. M. Füchslin, R. Pfeifer, and W. Maass, The role of feedback in morphological computation with compliant bodies, Biological cybernetics, vol.106, issue.10, pp.595-613, 2012.

J. Hughes, L. Scimeca, I. Ifrim, P. Maiolino, and F. Iida, Achieving robotically peeled lettuce, IEEE Robotics and Automation Letters, vol.3, issue.4, pp.4337-4342, 2018.

D. Ichalal, B. Marx, J. Ragot, and D. Maquin, Simultaneous state and unknown inputs estimation with PI and PMI observers for Takagi Sugeno model with unmeasurable premise variables, in 'Control and Automation, MED'09. 17th Mediterranean Conference on, vol.67, p.68, 2009.

L. Jamone, L. Natale, G. Sandini, and A. Takanishi, Interactive online learning of the kinematic workspace of a humanoid robot, 2012.

, IEEE, vol.18, pp.2606-2612

V. Jurdjevic and J. P. Quinn, Controllability and stability, Journal of differential equations, vol.28, issue.3, pp.381-389, 1978.

R. K. Katzschmann, C. Della-santina, Y. Toshimitsu, A. Bicchi, and D. Rus, Dynamic motion control of multi-segment soft robots using piecewise constant curvature matched with an augmented rigid body model, vol.13, p.22, 2019.

R. K. Katzschmann, A. D. Marchese, and D. Rus, Hydraulic autonomous soft robotic fish for 3d swimming, in 'Experimental Robotics, vol.5, p.12, 2016.

R. Katzschmann and M. Thieffry, Dynamically closed-loop controlled soft robotic arm using a reduced order finite element model with state observer, IEEE 2019 International Conference on Soft Robotics, vol.9, p.121, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02078809

S. Kim, C. Laschi, and B. Trimmer, Soft robotics: a bioinspired evolution in robotics, Trends in biotechnology, vol.31, issue.5, p.12, 2013.

C. King, M. O. Culjat, M. L. Franco, J. W. Bisley, E. Dutson et al., Optimization of a pneumatic balloon tactile display for robot-assisted surgery based on human perception, IEEE Transactions on Biomedical Engineering, vol.55, issue.11, pp.2593-2600, 2008.

A. Kruszewski, R. Wang, and T. Guerra, Nonquadratic stabilization conditions for a class of uncertain nonlinear discrete time ts fuzzy models: A new approach, IEEE Transactions on Automatic Control, vol.53, issue.2, pp.606-611, 2008.
URL : https://hal.archives-ouvertes.fr/hal-02446388

S. Lall, J. E. Marsden, and S. Glava?ki, A subspace approach to balanced truncation for model reduction of nonlinear control systems, International Journal of Robust and Nonlinear Control: IFAC-Affiliated Journal, vol.12, issue.6, pp.519-535, 2002.

F. Lamnabhi-lagarrigue, A. Annaswamy, S. Engell, A. Isaksson, P. Khargonekar et al., Systems and Control for the future of humanity, research agenda: Current and future roles, impact and grand challenges, Annual Reviews in Control, vol.43, pp.1-64, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01628388

A. R. Lanfranco, A. E. Castellanos, J. P. Desai, and W. C. Meyers, Robotic surgery: a current perspective, Annals of surgery, vol.239, issue.1, 2004.

J. Laumond, Robotics: Hephaestus does it again, 2012.
URL : https://hal.archives-ouvertes.fr/hal-01376739

D. Liberzon, Switching in systems and control, p.115, 2003.

A. Lismonde, V. Sonneville, and O. Brüls, Trajectory planning of soft link robots with improved intrinsic safety, IFAC-PapersOnLine, vol.50, issue.1, pp.6016-6021, 2017.

C. Majidi, Soft robotics: a perspective -current trends and prospects for the future, Soft Robotics, vol.1, issue.1, pp.5-11, 2014.

A. D. Marchese, R. K. Katzschmann, and D. Rus, A recipe for soft fluidic elastomer robots, Soft Robotics, vol.2, issue.1, pp.7-25, 2015.

A. D. Marchese, K. Komorowski, C. D. Onal, and D. Rus, Design and control of a soft and continuously deformable 2d robotic manipulation system, IEEE international conference on robotics and automation, issue.13, pp.2189-2196, 2014.

A. D. Marchese and D. Rus, Design, kinematics, and control of a soft spatial fluidic elastomer manipulator, International Journal of Robotics Research, vol.35, issue.7, pp.840-869, 2016.

A. D. Marchese, R. Tedrake, and D. Rus, Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator, The International Journal of Robotics Research, vol.35, issue.8, pp.1000-1019, 2016.

W. Mcmahan, V. Chitrakaran, M. Csencsits, D. Dawson, I. D. Walker et al., Proceedings 2006 IEEE International Conference on Robotics and Automation, pp.2336-2341, 2006.

A. Megretski, H-infinity model reduction with guaranteed suboptimality bound, p.125, 2006.

D. Mohammad, N. Khan, and V. Ramamurti, On the role of rayleigh 138 BIBLIOGRAPHY damping, Journal of Sound and Vibration, vol.185, issue.2, pp.207-218, 1995.

T. Morales-bieze, Contribution to the kinematic modeling and control of soft manipulators using computational mechanics, vol.1, p.117, 2017.

T. Morales-bieze, F. Largilliere, A. Kruszewski, Z. Zhang, R. Merzouki et al., Finite element method-based kinematics and closed-loop control of soft, continuum manipulators, vol.5, pp.348-364, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01745625

T. Morzadec, D. Marcha, and C. Duriez, Toward shape optimization of soft robots, '2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)', IEEE, vol.120, pp.521-526, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02078776

K. Nakajima, T. Li, H. Hauser, and R. Pfeifer, Exploiting short-term memory in soft body dynamics as a computational resource, Journal of The Royal Society Interface, vol.11, issue.100, 2014.

A. Nguyen, T. Guerra, and C. Sentouh, Simultaneous estimation of vehicle lateral dynamics and driver torque using lpv unknown input observer, IFAC-PapersOnLine, vol.51, issue.26, pp.13-18, 2018.

V. Nguyen, A. Nguyen, A. Dequidt, L. Vermeiren, and M. Dambrine, Nonlinear tracking control with reduced complexity of serial robots: A robust fuzzy descriptor approach, International Journal of Fuzzy Systems, vol.24, pp.1-13, 2019.

R. Niiyama, X. Sun, C. Sung, B. An, D. Rus et al., Pouch motors: printable soft actuators integrated with computational design, Soft Robotics, vol.2, issue.2, 2015.

C. D. Onal and D. Rus, Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot, Bioinspiration & biomimetics, vol.8, issue.2, 2013.

C. D. Onal, R. J. Wood, and D. Rus, An origami-inspired approach to worm robots, IEEE/ASME Transactions on Mechatronics, vol.18, issue.2, pp.430-438, 2013.

C. T. O'neill, N. S. Phipps, L. Cappello, S. Paganoni, and C. J. Walsh, A soft wearable robot for the shoulder: Design, characterization, and preliminary testing, in 'Rehabilitation Robotics (ICORR, 2017 International Conference on, pp.1672-1678, 2017.

C. J. Payne, I. Wamala, C. Abah, T. Thalhofer, M. Saeed et al., An implantable extracardiac soft robotic device for the failing heart: Mechanical coupling and synchronization, pp.241-250, 2017.

N. Petit and P. Rouchon, Flatness of heavy chain systems, SIAM Journal on Control and Optimization, vol.40, issue.2, pp.475-495, 2001.

P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, and C. J. Walsh, Soft robotic glove for combined assistance and at-home rehabilitation, Robotics and Autonomous Systems, vol.73, issue.7, pp.135-143, 2015.

C. Poussot-vassal and P. Vuillemin, Introduction to {MORE}: a {MO}del {RE}duction Toolbox, 2012 IEEE International Conference on Control Applications (CCA) Part of 2012 IEEE Multi-Conference on Systems and Control, vol.53, p.96, 2012.

J. N. Reddy, An introduction to the finite element method, p.27, 1993.

F. Renda, F. Boyer, J. Dias, and L. Seneviratne, Discrete cosserat approach for multi-section soft robots dynamics, 2017.

F. Renda, V. Cacucciolo, J. Dias, and L. Seneviratne, Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5495-5502, 2016.

C. W. Rowley, Model reduction for fluids, using balanced proper orthogonal decomposition, International Journal of Bifurcation and 140 BIBLIOGRAPHY Chaos, vol.15, issue.03, pp.997-1013, 2005.

S. Rozen-levy, W. Messner, and B. A. Trimmer, The design and development of branch bot: a branch-crawling, caterpillar-inspired, soft robot, The International Journal of Robotics Research, p.19, 2019.

T. Ryan and H. J. Kim, Lmi-based gain synthesis for simple robust quadrotor control, IEEE Transactions on Automation Science and Engineering, vol.10, issue.4, pp.1173-1178, 2013.

S. H. Sadati, A. Shiva, L. Renson, C. Rucker, K. Althoefer et al., Reduced order vs. discretized lumped system models with absolute and relative states for continuum manipulators, p.17, 2019.

S. M. Sadati, S. E. Naghibi, I. D. Walker, K. Althoefer, and T. Nanayakkara, Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods', IEEE Robotics and Automation Letters, p.22, 2018.

L. Scimeca, C. Daniel, P. Angel, M. Antonio, and F. Iida, Non-destructive robotic assessment of mango ripeness via multi-point soft haptics, 2019.

R. F. Shepherd, F. Ilievski, W. Choi, S. A. Morin, A. A. Stokes et al., Multigait soft robot, Proceedings of the national academy of sciences, vol.108, pp.20400-20403, 2011.

P. Slade, A. Gruebele, Z. Hammond, M. Raitor, A. M. Okamura et al., Design of a soft catheter for low-force and constrained surgery, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)', IEEE, pp.174-180, 2017.

E. D. Sontag, Input to state stability: Basic concepts and results, in 'Nonlinear and optimal control theory, vol.69, p.126, 2008.

G. Soter, M. Garrad, A. T. Conn, H. Hauser, and J. Rossiter, , 2019.

, A soft robotic skin based on fluidic transmission, '2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)', IEEE, pp.355-360

D. Stürzer, A. Arnold, and A. Kugi, Closed-loop stability analysis of a gantry crane with heavy chain and payload, International Journal of Control, vol.91, issue.8, pp.1931-1943, 2018.

R. Taylor, A. Menciassi, G. Fichtinger, P. Fiorini, and P. Dario, Medical Robotics and Computer-Integrated Surgery, Springer Handbook of Robotics, 2016.

M. Thieffry, A. Kruszewski, C. Duriez, and T. Guerra, Control design for soft robots based on reduced-order model, IEEE Robotics and Automation Letters, vol.4, issue.1, p.121, 2019.
URL : https://hal.archives-ouvertes.fr/hal-01901031

M. Thieffry, A. Kruszewski, O. Goury, T. Guerra, and C. Duriez, Dynamic control of soft robots, vol.23, p.121, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01558844

M. Thieffry, A. Kruszewski, T. Guerra, and C. Duriez, Reduced Order Control of Soft Robots with Guaranteed Stability, in 'European Control Conference ECC18, vol.44, p.121, 2018.

T. G. Thuruthel, Control strategies for soft robotic manipulators: A survey, vol.18, p.21, 2018.

T. G. Thuruthel, Stable open loop control of soft robotic manipulators, IEEE Robotics and Automation Letters, vol.3, issue.2, pp.1292-1298, 2018.

M. T. Tolley, R. F. Shepherd, B. Mosadegh, K. C. Galloway, M. Wehner et al., A resilient, untethered soft robot, vol.1, pp.213-223, 2014.

R. Tóth, Modeling and identification of linear parameter-varying systems, vol.403, p.106, 2010.

D. Trivedi, A. Lotfi, and C. D. Rahn, Geometrically exact models for soft robotic manipulators, IEEE Transactions on Robotics, vol.24, issue.4, pp.773-780, 2008.

D. Trivedi, Soft robotics: Biological inspiration, state of the art, and future research, Applied bionics and biomechanics, vol.5, issue.3, pp.99-117, 2008.

R. L. Truby, R. K. Katzschmann, J. A. Lewis, and D. Rus, Soft robotic fingers with embedded ionogel sensors and discrete actuation modes for somatosensitive manipulation, '2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)', IEEE, vol.12, p.13, 2019.

T. Umedachi, V. Vikas, and B. A. Trimmer, Highly deformable 3-d printed soft robot generating inching and crawling locomotions with variable friction legs, IEEE, vol.18, pp.4590-4595, 2013.

P. Van-dooren, K. A. Gallivan, and P. Absil, H2-optimal model reduction of mimo systems, Applied Mathematics Letters, vol.21, issue.12, pp.1267-1273, 2008.

A. Vieira, Optimal control of linear complementarity systems, p.114, 2018.
URL : https://hal.archives-ouvertes.fr/tel-01989048

M. Vigne, A. El-khoury, M. Masselin, F. Di-meglio, and N. Petit, Estimation of multiple flexibilities of an articulated system using inertial measurements, '2018 IEEE Conference on Decision and Control (CDC)', IEEE, pp.6779-6785, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01962889

P. Vuillemin, Frequency-limited model approximation of large-scale dynamical models, vol.56, p.60, 2014.
URL : https://hal.archives-ouvertes.fr/tel-01092051

P. Vuillemin, C. Poussot-vassal, and D. Alazard, Two upper bounds on the h ? -norm of lti dynamical systems, IFAC Proceedings Volumes, vol.47, pp.5562-5567, 2014.

H. Wang, B. Yang, Y. Liu, W. Chen, X. Liang et al., , 2017.

, servoing of soft robot manipulator in constrained environments with an adaptive controller, IEEE/ASME Transactions on Mechatronics, vol.22, issue.1

T. Wang and B. Liu, Different polytopic decomposition for visual servoing system with lmi-based predictive control, 35th Chinese Control Conference (CCC)', IEEE, vol.24, pp.10320-10324, 2016.

W. Wang and S. Ahn, Shape memory alloy-based soft gripper with variable stiffness for compliant and effective grasping, 2017.

R. J. Webster and B. A. Jones, Design and kinematic modeling of constant curvature continuum robots: A review, The International Journal of Robotics Research, vol.29, issue.13, pp.1661-1683, 2010.

M. C. Yip and D. B. Camarillo, Model-less hybrid position/force control: a minimalist approach for continuum manipulators in unknown, constrained environments, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.844-851, 2016.

X. You, Y. Zhang, X. Chen, X. Liu, Z. Wang et al., Model-free control for soft manipulators based on reinforcement learning, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)', IEEE, vol.20, pp.2909-2915, 2017.

S. Zhang, W. He, and D. Huang, Active vibration control for a flexible string system with input backlash, IET Control Theory & Applications, vol.10, issue.7, pp.800-805, 2016.

Z. Zhang, T. Morales-bieze, J. Dequidt, A. Kruszewski, and C. Duriez, Visual Servoing Control of Soft Robots based on Finite Element Model, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01618330

G. Zheng, O. Goury, M. Thieffry, A. Kruszewski, and C. Duriez, Controllability pre-verification of silicone soft robots based on finiteelement method, in, '2019 IEEE International Conference on Robotics 144 BIBLIOGRAPHY and Automation (ICRA), 2019.

K. Zhou, G. Salomon, and E. Wu, Balanced realization and model reduction for unstable systems, International Journal of Robust and Nonlinear Control: IFAC-Affiliated Journal, vol.9, issue.3, pp.183-198, 1999.