Cédric Girerd

I am a CNRS Researcher in Robotics. I work in the DEXTER Team in the Robotics Department at LIRMM in Montpellier, France. I obtained a PhD from the University of Strasbourg in 2018 in Robotics, and was a Postdoctoral Scholar at the University of California San Diego from 2019 to 2022. Since 2023, I am an Associate Editor for the IEEE RoboSoft Conference.

Shamsa Al Harthy, S.M.Hadi Sadati, Cédric Girerd, Sukjun Kim, Alessio Mondini, Zicong Wu, Brandon Saldarriaga, Carlo A. Seneci, Barbara Mazzolai, Tania K. Morimoto, Christos Bergeles (2025). Tip-Growing Robots: Design, Theory, Application. TRO.
PDF Dataset DOI
Ayush Giri, Cédric Girerd, Jacobo Cervera-Torralba, Michael T. Tolley, Tania K. Morimoto (2025). InchIGRAB: An Inchworm-Inspired Guided Retraction and Bending Device for Vine Robots During Colonoscopy. TMECH.
PDF DOI
Camille Benoist, Cédric Girerd, Nabil Zemiti, Philippe Poignet, Pierre Berthey-Rayne (2024). Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test Evaluation. In CRAS.
PDF
Jui-Te Lin, Cédric Girerd, Benjamin T. Ostrander, Parsa Molaei, Hunter B. Gilbert, Philip A. Weissbrod, John T. Hwang, Tania K. Morimoto (2024). Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery. TBME.
PDF DOI
Cédric Girerd, Anna Alvarez, Elliot W. Hawkes, Tania K. Morimoto (2024). Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots. TRO.
PDF Video DOI
Ryan C. Dunn, Anugrah Jo Joshy, Jui-Te Lin, Cédric Girerd, Tania K. Morimoto, John T. Hwang (2023). Scalable enforcement of geometric non-interference constraints for gradient-based optimization. Optim Eng.
PDF DOI
Jingpei Lu, Fei Liu, Cédric Girerd, Michael C. Yip (2023). Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering. In ICRA.
PDF DOI
Agrim Gupta, Daegue Park, Shayaun Bashar, Cédric Girerd, Nagarjun Bhat, Siddhi Mundhra, Tania K. Morimoto, Dinesh Bharadia (2023). ForceSticker: Wireless, Batteryless, Thin & Flexible Force Sensors. In ACM IMWUT.
PDF DOI
Chibundo Nwafor, Cédric Girerd, Guillaume J. Laurent, Tania K. Morimoto, Kanty Rabenorosoa (2023). Design and Fabrication of Concentric Tube Robots: A Survey. TRO.
PDF Dataset DOI
Ayush Giri, Cédric Girerd, Xiaolei Luo, Ryan Broderick, Tania K. Morimoto (2022). Modeling and Design of Soft, Positive-Pressure Actuated Suction Cups for Anchoring in Minimally Invasive Surgery. In BioRob.
PDF DOI
Mufeng Xie, Cédric Girerd, Tania K. Morimoto (2022). A 3-D Haptic Trackball Interface for Teleoperating Continuum Robots. In BioRob.
PDF DOI
Jui-Te Lin, Cédric Girerd, Jiayao Yan, John T. Hwang, Tania K. Morimoto (2022). A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization. TRO.
PDF DOI
Daegue Park, Agrim Gupta, Shayaun Bashar, Cédric Girerd, Dinesh Bharadia, Tania K. Morimoto (2022). Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering. RA-L.
PDF DOI
Dang Viet Anh Nguyen, Cédric Girerd, Quentin Boyer, Patrick Rougeot, Olivier Lehmann, Laurent Tavernier, Jérôme Szewczyk, Kanty Rabenorosoa (2021). A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery. RA-L.
Video PDF DOI
Agrim Gupta, Cédric Girerd, Manideep Dunna, Qiming Zhang, Raghav Subbaraman, Tania K. Morimoto, Dinesh Bharadia (2021). Expanding the horizons of wireless sensing: Sensing and localizing contact forces with signal reflections. In GetMobile.
PDF DOI
Agrim Gupta, Cédric Girerd, Manideep Dunna, Qiming Zhang, Raghav Subbaraman, Tania K. Morimoto, Dinesh Bharadia (2021). WiForce: Wireless Sensing and Localization of Contact Forces on a Space Continuum. In NSDI.
Slides Video PDF
Cédric Girerd, Qiming Zhang, Agrim Gupta, Manideep Dunna, Dinesh Bharadia, Tania K. Morimoto, Equal Contribution (2021). Towards a Wireless Force Sensor Based on Wave Backscattering for Medical Applications. IEEE Sensors Journal.
PDF DOI
Cédric Girerd, Tania K. Morimoto (2020). Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery. TRO.
PDF Video DOI
Cédric Girerd, Andrey v. Kudryavtsev, Patrick Rougeot, Pierre Renaud, Kanty Rabenorosoa, Brahim Tamadazte, Equal Contribution (2020). Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM. TMRB.
Video PDF DOI
Cédric Girerd, Thomas Schlinquer, Nicolas Andreff, Pierre Renaud, Kanty Rabenorosoa (2020). Design of Concentric Tube Robots using Tube Patterning for Follow-the-Leader Deployment. JMR.
Video PDF DOI
Cédric Girerd, Andrey v. Kudryavtsev, Patrick Rougeot, Pierre Renaud, Kanty Rabenorosoa, Brahim Tamadazte, Equal Contribution (2020). SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots. RA-L.
PDF Video DOI
Laurent Tavernier, Emmanuel Haffen, Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud, Brahim Tamadazte (2019). Détection optique endonasale de la maladie d'Alzheimer. In ORL Corsica 2019.
Cédric Girerd, Thomas Lihoreau, Kanty Rabenorosoa, Brahim Tamadazte, Mourad Benassarou, Laurent Tavernier, Lionel Pazart, Emmanuel Haffen, Nicolas Andreff, Pierre Renaud (2018). In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy. ABME.
PDF Dataset DOI
Cédric Girerd (2018). Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives. In University of Strasbourg.
PDF
Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud (2017). Toward a Robotized Inspection of the Olfactory Epithelium. In Surgetica.
PDF
Cédric Girerd, Kanty Rabenorosoa, Patrick Rougeot, Pierre Renaud (2017). Towards Optical Biopsy of Olfactory Cells using Concentric Tube Robots with Follow-the-Leader Deployment. In IROS.
Video PDF DOI
Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud (2017). Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots. In ARK.
PDF DOI
Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud (2016). Concentric Tube Robots for Inspection of Olfactory Cells. In JJCR.
Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud (2016). Synthesis of a New Concentric Tube Robot for Olfactory Cells Exploration. In CRAS.
PDF
Simon Stent, Cédric Girerd, Peter J.G. Long, Roberto Cipolla (2015). A Low-Cost Robotic System for the Efficient Visual Inspection of Tunnels. In ISARC.
PDF DOI