Publikationen

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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: 10.1109/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 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 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. (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. ( 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, Muscheid H, Schappler M, Seel T. Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. 2023 Aug 18.
Mohammad A, Schappler M, Habich T-L, 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. (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: 10.1007/978-3-031-32439-0_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 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. S. 504-510 doi: 10.1109/AIM46487.2021.9517565
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