List of Publications – Institute of Mechatronic Systems

Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. / Bensch, Martin; Job, Tim David; Habich, Tim Lukas et al.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 17293-17299 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Grundlagen der Robotik. / Habich, Tim-Lukas; Schappler, Moritz; Ortmaier, Tobias.
Handbuch der Mess- und Automatisierungstechnik in der Produktion. ed. / Ulrich Grünhaupt; Martin Ruskowski. Berlin, Heidelberg: Springer Berlin Heidelberg, 2024. p. 1-14.

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

SPONGE: Open-Source Designs of Modular Articulated Soft Robots. / Habich, Tim Lukas; Haack, Jonas; Belhadj, Mehdi et al.
In: IEEE Robotics and Automation Letters, Vol. 9, No. 6, 06.2024, p. 5346-5353.

Research output: Contribution to journal › Article › Research › peer review

Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. / Mohammad, Aran; Muscheid, Hendrik; Schappler, Moritz et al.
2024. 137-150.

Research output: Contribution to conference › Paper › Research › peer review

Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. / Schäfke, Hendrik; Habich, Tim-Lukas; Muhmann, Christian et al.
In: IEEE Robotics and Automation Letters, 11.11.2024.

Research output: Contribution to journal › Article › Research › peer review

Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. / Bartholdt, Max; Berthold, Rebecca; Schappler, Moritz.
2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2023. (IEEE International Conference on Soft Robotics).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. / Habich, Tim Lukas; Hueter, Melvin; Schappler, Moritz et al.
Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 9651-9657 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. / Habich, Tim Lukas; Kleinjohann, Sarah; Schappler, Moritz.
2023 IEEE International Conference on Soft Robotics, RoboSoft 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (IEEE International Conference on Soft Robotics).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models. / Job, Tim-David; Bensch, Martin; Schappler, Moritz.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 10224-10231 (Proceedings of the International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. / Mohammad, Aran; Schappler, Moritz; Ortmaier, Tobias.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 5910-5917 ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. / Mohammad, Aran; Schappler, Moritz; Habich, Tim-Lukas et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023. p. 5966-5973 (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. / Mohammad, Aran; Schappler, Moritz; Ortmaier, Tobias.
Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 12092-12098 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection. / Schappler, Moritz.
Informatics in Control, Automation and Robotics . ed. / Oleg Gusikhin; Kurosh Madani; Henk Nijmeijer. Cham: Springer, 2023. p. 106-131 (Lecture Notes in Electrical Engineering; Vol. 1006 LNEE).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control. / Sterneck, Tim; Fettin, Jannik; Schappler, Moritz.
Proceedings of I4SDG Workshop 2023. ed. / Victor Petuya; Giuseppe Quaglia; Tigran Parikyan; Giuseppe Carbone. Cham: Springer, 2023. p. 105-114 (Mechanisms and Machine Science; Vol. 134 ).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. / Mehl, Maximilian; Bartholdt, Max Niklas; Schappler, Moritz.
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). IEEE, 2022. p. 376-383.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. / Schappler, Moritz; Jahn, Philipp; Raatz, Annika et al.
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. Cham: Springer, 2022.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. / Schappler, Moritz; Blum, Tobias; Job, Tim-David.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 399-408 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. / Schappler, Moritz.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 198-207 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. / Schappler, Moritz.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 188-197 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. / Stuede, Marvin; Schappler, Moritz.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. p. 126-133 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2022-October).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review