Publikationen
Job T-D, 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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). 2023
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
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
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 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: 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
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: 10.1007/978-3-031-08140-8_21
Stuede M, Schappler M. Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. S. 126-133. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.48550/arXiv.2203.06911, 10.1109/iros47612.2022.9982067
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: 10.1109/IROS51168.2021.9636447, 10.15488/11625
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: 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). Epub 2021 Jul 20. doi: 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: 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 Conference 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: 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: 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: 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: 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. (IEEE International Conference on Mechatronics and Automation, ICMA 2020). doi: 10.15488/10355, 10.1109/icma49215.2020.9233709