Publikationen

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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.org/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. 2022

doi.org/10.1007/978-3-030-74032-0_6

Schappler M, Blum T, Job T-D. 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.org/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.org/10.1007/978-3-031-08140-8_22

Schappler M. Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. in Altuzarra O, Kecskeméthy A, Hrsg., Advances in Robot Kinematics 2022. Springer, Cham. 2022. S. 188-197. (Springer Proceedings in Advanced Robotics).

doi.org/10.1007/978-3-031-08140-8_21

Bartholdt MN, Wiese M, Schappler M, Spindeldreier S, Raatz A. A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2021. S. 624-631. (IEEE/RSJ/GI International Conference on Intelligent Robots and Systems).

doi.org/10.1109/IROS51168.2021.9636447

Habich T-L, Stuede M, Labbé M, Spindeldreier S. Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM. in Proceedings of the 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM): July 12-16, 2021, Delft, The Netherlands. 2021

Knöchelmann E, Männel A, Schappler M. Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. in IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. 2021. (IECON Proceedings (Industrial Electronics Conference)).

doi.org/10.1109/IECON48115.2021.9589196

Schappler M, Job T-D, Ortmaier T. A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. in Corless RM, Gerhard J, Kotsireas IS, Hrsg., Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Cham: Springer, Cham. 2021. S. 350-364. (Communications in Computer and Information Science).

doi.org/10.1007/978-3-030-81698-8_23

Schappler M, Ortmaier T. Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. in Gusikhin O, Nijmeijer H, Madani K, Hrsg., Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics. Band 1. 2021. S. 338-349

doi.org/10.5220/0010621103380349

Stuede M, Lerche T, Petersen MA, Spindeldreier S. Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks. in Proceedings of the 2021 IEEE International Conferensce on Robotics and Automation (ICRA): May 30-June 5, Xi'an, China. 2021

Stuede M, Westermann K, Schappler M, Spindeldreier S. Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. in Behnke S, Menegatti E, McCool C, Hrsg., 2021 European Conference on Mobile Robots (ECMR): Proceedings, Virtual Conference 31 August - 3 September 2021. IEEE. 2021

doi.org/10.1109/ECMR50962.2021.9568838

Ehlers SFG, Stuede M, Nülle K, Ortmaier T. Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas. in 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. 2020. S. 9652-9658. 9196997

doi.org/10.1109/icra40945.2020.9196997

Kaczor D, Bensch M, Schappler M, Ortmaier T. Trajectory optimization for the handling of elastically coupled objects via reinforcement learning and flatness-based control. in Annals of scientific society for assembly, handling and industrial robotics. Berlin: Springer Verlag. 2020. S. 319-329

doi.org/10.1007/978-3-662-61755-7_29

Schappler M, Ortmaier T. Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints. in Tagungsband der 6. IFToMM D-A-CH Konferenz. Lienz, Austria. 2020

doi.org/10.17185/duepublico/71211

Volkmann B, Kaczor D, Tantau M, Schappler M, Ortmaier T. Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics. in 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. 2020. S. 912-919. 9233709. (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

doi.org/10.15488/10355

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doi.org/10.1109/icma49215.2020.9233709

Habich T-L, Kaczor D, Tappe S, Ortmaier T. Online Learning of the Inverse Dynamics with Parallel Drifting Gaussian Processes: Implementation of an Approach for Feedforward Control of a Parallel Kinematic Industrial Robot. in Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. S. 962-969. 8816298. (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

doi.org/10.1109/ICMA.2019.8816298

Haddadin S, Johannsmeier L, Schmid J, Ende T, Parusel S, Haddadin S et al. Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. in Balogh R, Obdrzalek D, Lepuschitz W, Merdan M, Koppensteiner G, Hrsg., Robotics in Education - Methods and Applications for Teaching and Learning. Band 829. Springer, Cham. 2019. S. 3-17. (Advances in Intelligent Systems and Computing).

doi.org/10.1007/978-3-319-97085-1_1

Schappler M, Tappe S, Ortmaier T. Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis. in Mechanisms and Machine Science. Cham: Springer Netherlands. 2019. S. 1949-1958. (Mechanisms and Machine Science).

doi.org/10.15488/10211

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doi.org/10.1007/978-3-030-20131-9_193

Schappler M, Lilge T, Haddadin S. Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. in Uhl T, Hrsg., Mechanisms and Machine Science. Band 73. Cham: Springer, Cham. 2019. S. 3157-3166. (Mechanisms and Machine Science).

doi.org/10.15488/10212

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doi.org/10.1007/978-3-030-20131-9_311