Publications

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.

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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.

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.

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.

Cédric Girerd, Anna Alvarez, Elliot W. Hawkes, Tania K. Morimoto (2024). Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots. TRO.

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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.

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.

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.

Chibundo Nwafor, Cédric Girerd, Guillaume J. Laurent, Tania K. Morimoto, Kanty Rabenorosoa (2023). Design and Fabrication of Concentric Tube Robots: A Survey. TRO.

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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.

Mufeng Xie, Cédric Girerd, Tania K. Morimoto (2022). A 3-D Haptic Trackball Interface for Teleoperating Continuum Robots. In BioRob.

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.

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.

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.

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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.

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.

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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.

Cédric Girerd, Tania K. Morimoto (2020). Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery. TRO.

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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.

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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.

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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.

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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.

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Cédric Girerd (2018). Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives. In University of Strasbourg.

Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud (2017). Toward a Robotized Inspection of the Olfactory Epithelium. In Surgetica.

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.

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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.

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.

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.