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Mohammad, A., Muscheid, H., Schappler, M., & Seel, T. (2024). Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. https://doi.org/10.1007/978-3-031-55000-3_10
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Bartholdt, M., Berthold, R., & Schappler, M. (2023). 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 International Conference on Soft Robotics). IEEE. https://doi.org/10.1109/robosoft55895.2023.10122047
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Habich, T. L., Hueter, M., Schappler, M., & Spindeldreier, S. (2023). 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 (S. 9651-9657). (Proceedings - IEEE International Conference on Robotics and Automation; Band 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.48550/arXiv.2303.00065, https://doi.org/10.1109/ICRA48891.2023.10161124
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Habich, T. L., Kleinjohann, S., & Schappler, M. (2023). 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 (IEEE International Conference on Soft Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.48550/arXiv.2303.01840, https://doi.org/10.1109/RoboSoft55895.2023.10122057
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Job, T-D., Bensch, M., & Schappler, M. (2023). 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) (S. 10224-10231). (Proceedings of the International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS55552.2023.10341897
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Mohammad, A., Schappler, M., & Ortmaier, T. (2023). 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) ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). https://doi.org/10.48550/arXiv.2308.09650, https://doi.org/10.1109/iros55552.2023.10342345
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Mohammad, A., Schappler, M., Habich, T-L., & Ortmaier, T. (2023). Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.48550/arXiv.2308.09656, https://doi.org/10.1109/iros55552.2023.10341581
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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, 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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Sterneck, T., Fettin, J., & Schappler, M. (2023). Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control. In V. Petuya, G. Quaglia, T. Parikyan, & G. Carbone (Hrsg.), Proceedings of I4SDG Workshop 2023 (S. 105-114). (Mechanisms and Machine Science; Band 134 ). Springer. Vorabveröffentlichung online. https://doi.org/10.1007/978-3-031-32439-0_13
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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. Vorabveröffentlichung online. 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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