Publikationen

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

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) doi.org/10.5220/0010621103380349

Stuede, M., Westermann, K., Schappler, M., & Spindeldreier, S. (2021). Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. arxiv.org/abs/2105.03242

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

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 doi.org/10.17185/duepublico/71211

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] (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). doi.org/10.15488/10355, doi.org/10.1109/icma49215.2020.9233709

Haddadin, S., Johannsmeier, L., Schmid, J., Ende, T., Parusel, S., Haddadin, S., Schappler, M., Lilge, T., & Becker, M. (2019). Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. in R. Balogh, D. Obdrzalek, W. Lepuschitz, M. Merdan, & G. Koppensteiner (Hrsg.), Robotics in Education - Methods and Applications for Teaching and Learning (Band 829, S. 3-17). (Advances in Intelligent Systems and Computing; Band 829). Springer, Cham. doi.org/10.1007/978-3-319-97085-1_1

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. doi.org/10.15488/10211, doi.org/10.1007/978-3-030-20131-9_193

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. doi.org/10.15488/10212, doi.org/10.1007/978-3-030-20131-9_311

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]. doi.org/10.3390/robotics8030068

Schappler, M., Tappe, S., & Ortmaier, T. (2019). Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. in Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science (S. 1701-1710). (Mechanisms and Machine Science). Springer, Cham. doi.org/10.15488/10210, doi.org/10.1007/978-3-030-20131-9_168

Haddadin, S., Johannsmeier, L., Becker, M., Schappler, M., Lilge, T., Haddadin, S., Schmid, J., Ende, T., & Parusel, S. (2018). Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. in HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (S. 375-375). (ACM/IEEE International Conference on Human-Robot Interaction). Association for Computing Machinery (ACM). doi.org/10.1145/3173386.3177534

Kühn, J., Hu, T., Schappler, M., & Haddadin, S. (2018, Jun 8). Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. doi.org/10.1109/simpar.2018.8376286

Nülle, K., Tappe, S., Ortmaier, T., Schappler, M., Lilge, T., & Haddadin, S. (2017). 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion. doi.org/10.2314/GBV:1014030161

Vorndamme, J., Schappler, M., & Haddadin, S. (2017, Mai). Collision detection, isolation and identification for humanoids. doi.org/10.1109/icra.2017.7989552

Vorndamme, J., Schappler, M., Todtheide, A., & Haddadin, S. (2016, Okt). Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. doi.org/10.1109/iros.2016.7759517

Beckmann, D., Schappler, M., Dagen, M., & Ortmaier, T. (2015). Flachheitsbasierte Vorsteuerung eines elastisch-gekoppelten elektrischen Antriebssystems unter Verwendung von Trapezprofilen. in Tagungsband VDE Mechatronik

Beckmann, D., Schappler, M., Dagen, M., & Ortmaier, T. (2015). New approach using flatness-based control in high speed positioning: Experimental results. in 2015 IEEE International Conference on Industrial Technology (ICIT) (S. 351-356). IEEE. doi.org/10.1109/icit.2015.7125123

Conner, D., Kohlbrecher, S., Romay, A., Stumpf, A., Maniatopoulos, S., Schappler, M., & Waxler, B. (2015). Team ViGIR. doi.org/10.21236/ada623035

Schappler, M., Vorndamme, J., Tödtheide, A., Conner, D. C., Stryk, O. V., & Haddadin, S. (2015, Nov). Modeling, identification and joint impedance control of the atlas arms. doi.org/10.1109/humanoids.2015.7363499