Publikationen
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Bensch M, Job TD, Habich TL, Seel T, Schappler M. Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. in 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc. 2024. S. 17293-17299. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA57147.2024.10610742
Habich TL, Schappler M, Ortmaier T. Grundlagen der Robotik. in Grünhaupt U, Ruskowski M, Hrsg., Handbuch der Mess- und Automatisierungstechnik in der Produktion. Berlin, Heidelberg: Springer Berlin Heidelberg. 2024. S. 1-14 doi: 10.1007/978-3-662-62424-1_59-3
Habich TL, Haack J, Belhadj M, Lehmann D, Seel T, Schappler M. SPONGE: Open-Source Designs of Modular Articulated Soft Robots. IEEE Robotics and Automation Letters. 2024 Jun;9(6):5346-5353. Epub 2024 Apr 15. doi: 10.48550/arXiv.2404.10734, 10.1109/LRA.2024.3388855
Mehl M, Bartholdt M, Ehlers SFG, Seel T, Schappler M. Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. in 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc. 2024. S. 14939-14945. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA57147.2024.10610370
Mohammad A, Muscheid H, Schappler M, Seel T. Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. 2024. doi: 10.1007/978-3-031-55000-3_10
Schäfke H, Habich TL, Muhmann C, Ehlers S, Seel T, Schappler M. Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. IEEE Robotics and Automation Letters. 2024 Dez;9(12):11609-11616. 11609. Epub 2024 Nov 11. doi: 10.1109/LRA.2024.3495579
Bartholdt M, Berthold R, Schappler M. Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. in 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE. 2023. (IEEE International Conference on Soft Robotics). doi: 10.15488/15183, 10.1109/robosoft55895.2023.10122047
Habich TL, Hueter M, Schappler M, Spindeldreier S. Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. in Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2023. S. 9651-9657. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.48550/arXiv.2303.00065, 10.1109/ICRA48891.2023.10161124
Habich TL, Kleinjohann S, Schappler M. Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. in 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (IEEE International Conference on Soft Robotics). doi: 10.48550/arXiv.2303.01840, 10.1109/RoboSoft55895.2023.10122057
Job TD, Bensch M, Schappler M. Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. S. 10224-10231. (Proceedings of the International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS55552.2023.10341897
Mohammad A, Schappler M, Ortmaier T. Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. S. 5910-5917. ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). doi: 10.48550/arXiv.2308.09650, 10.1109/iros55552.2023.10342345
Mohammad A, Rezaei R, Hayduk C, Delebinski T, Shahpouri S, Shahbakhti M. Physical-oriented and machine learning-based emission modeling in a diesel compression ignition engine: Dimensionality reduction and regression. International Journal of Engine Research. 2023 Mär;24(3):904-918. Epub 2022 Jan 6. doi: 10.1177/14680874211070736
Mohammad A, Schappler M, Habich TL, Ortmaier T. Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2023. S. 5966-5973. (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). doi: 10.48550/arXiv.2308.09656, 10.1109/iros55552.2023.10341581
Mohammad A, Schappler M, Ortmaier T. Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. in Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2023. S. 12092-12098. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA48891.2023.10161217, 10.1109/ICRA48891.2023.10161217
Schappler M. Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection. in Gusikhin O, Madani K, Nijmeijer H, Hrsg., Informatics in Control, Automation and Robotics . Cham: Springer. 2023. S. 106-131. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-3-031-26474-0_6
Sterneck T, Fettin J, Schappler M. Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control. in Petuya V, Quaglia G, Parikyan T, Carbone G, Hrsg., Proceedings of I4SDG Workshop 2023. Cham: Springer. 2023. S. 105-114. (Mechanisms and Machine Science). Epub 2023 Mai 19. doi: 10.15488/15184, 10.1007/978-3-031-32439-0_13
Mehl M, Bartholdt MN, Schappler M. Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. in 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). IEEE. 2022. S. 376-383 doi: 10.1109/robosoft54090.2022.9762177
Schappler M, Jahn P, Raatz A, Ortmaier T. Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. in Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. Cham: Springer. 2022 doi: 10.1007/978-3-030-74032-0_6
Schappler M, Blum T, Job TD. Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. in Altuzarra O, Kecskeméthy A, Hrsg., Advances in Robot Kinematics 2022. Springer, Cham. 2022. S. 399-408. (Springer Proceedings in Advanced Robotics). doi: 10.15488/12465, 10.1007/978-3-031-08140-8_43
Schappler M. Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. in Altuzarra O, Kecskeméthy A, Hrsg., Advances in Robot Kinematics 2022. Springer, Cham. 2022. S. 198-207. (Springer Proceedings in Advanced Robotics). doi: 10.1007/978-3-031-08140-8_22, 10.1007/978-3-031-08140-8_22