Publikationen
Job, T-D., Bensch, M., & Schappler, M. (Angenommen/Im Druck). 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)
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Mohammad, A., Schappler, M., & Ortmaier, T. (2023). 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 (S. 12092-12098). (Proceedings - IEEE International Conference on Robotics and Automation; Band 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA48891.2023.10161217
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Schappler, M. (2023). Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection. in O. Gusikhin, K. Madani, & H. Nijmeijer (Hrsg.), Informatics in Control, Automation and Robotics (S. 106-131). (Lecture Notes in Electrical Engineering; Band 1006 LNEE). Springer. https://doi.org/10.1007/978-3-031-26474-0_6
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Mehl, M., Bartholdt, M. N., & Schappler, M. (2022). Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. in 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) (S. 376-383). IEEE. https://doi.org/10.1109/robosoft54090.2022.9762177
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Schappler, M., Jahn, P., Raatz, A., & Ortmaier, T. (2022). 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 Springer. https://doi.org/10.1007/978-3-030-74032-0_6
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Schappler, M., Blum, T., & Job, T-D. (2022). Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. in O. Altuzarra, & A. Kecskeméthy (Hrsg.), Advances in Robot Kinematics 2022 (S. 399-408). (Springer Proceedings in Advanced Robotics; Band 24 SPAR). Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_43
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Schappler, M. (2022). Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. in O. Altuzarra, & A. Kecskeméthy (Hrsg.), Advances in Robot Kinematics 2022 (S. 198-207). (Springer Proceedings in Advanced Robotics; Band 24 SPAR). Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_22
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Schappler, M. (2022). Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. in O. Altuzarra, & A. Kecskeméthy (Hrsg.), Advances in Robot Kinematics 2022 (S. 188-197). (Springer Proceedings in Advanced Robotics; Band 24 SPAR). Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_21
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Stuede, M., & Schappler, M. (2022). 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) (S. 126-133). (IEEE International Conference on Intelligent Robots and Systems; Band 2022-October). https://doi.org/10.48550/arXiv.2203.06911, https://doi.org/10.1109/iros47612.2022.9982067
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Bartholdt, M. N., Wiese, M., Schappler, M., Spindeldreier, S., & Raatz, A. (2021). 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) (S. 624-631). (IEEE/RSJ/GI International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS51168.2021.9636447, https://doi.org/10.15488/11625
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Knöchelmann, E., Männel, A., & Schappler, M. (2021). Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. in IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society (IECON Proceedings (Industrial Electronics Conference); Band 2021-October). https://doi.org/10.1109/IECON48115.2021.9589196
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Schappler, M., Job, T-D., & Ortmaier, T. (2021). A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. in R. M. Corless, J. Gerhard, & I. S. Kotsireas (Hrsg.), Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research (S. 350-364). (Communications in Computer and Information Science; Band 1414). Springer, Cham. https://doi.org/10.1007/978-3-030-81698-8_23
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Schappler, M., & Ortmaier, T. (2021). Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. in O. Gusikhin, H. Nijmeijer, & K. Madani (Hrsg.), Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics (Band 1, S. 338-349) https://doi.org/10.5220/0010621103380349
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Stuede, M., Westermann, K., Schappler, M., & Spindeldreier, S. (2021). Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. in S. Behnke, E. Menegatti, & C. McCool (Hrsg.), 2021 European Conference on Mobile Robots (ECMR): Proceedings, Virtual Conference 31 August - 3 September 2021 IEEE. https://doi.org/10.1109/ECMR50962.2021.9568838
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Kaczor, D., Bensch, M., Schappler, M., & Ortmaier, T. (2020). 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 (S. 319-329). Springer Verlag. https://doi.org/10.1007/978-3-662-61755-7_29
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Schappler, M., & Ortmaier, T. (2020). Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints. in Tagungsband der 6. IFToMM D-A-CH Konferenz https://doi.org/10.17185/duepublico/71211
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Volkmann, B., Kaczor, D., Tantau, M., Schappler, M., & Ortmaier, T. (2020). Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics. in 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (S. 912-919). [9233709] (IEEE International Conference on Mechatronics and Automation, ICMA 2020). https://doi.org/10.15488/10355, https://doi.org/10.1109/icma49215.2020.9233709
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Schappler, M., Tappe, S., & Ortmaier, T. (2019). Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis. in Mechanisms and Machine Science (S. 1949-1958). (Mechanisms and Machine Science; Band 73). Springer Netherlands. https://doi.org/10.15488/10211, https://doi.org/10.1007/978-3-030-20131-9_193
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Schappler, M., Lilge, T., & Haddadin, S. (2019). Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. in T. Uhl (Hrsg.), Mechanisms and Machine Science (Band 73, S. 3157-3166). (Mechanisms and Machine Science; Band 73). Springer, Cham. https://doi.org/10.15488/10212, https://doi.org/10.1007/978-3-030-20131-9_311
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Schappler, M., Tappe, S., & Ortmaier, T. (2019). Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. Robotics, 8(3), [68]. https://doi.org/10.3390/robotics8030068, https://doi.org/10.15488/9291
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