Institute of Mechatronic Systems

Publications

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Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks. / Habich, Tim Lukas; Mohammad, Aran; Ehlers, Simon F.G. et al.
In: IEEE Transactions on Robotics, Vol. 42, 16.01.2026, p. 619 - 636.

Research output: Contribution to journal › Article › Research › peer review

SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution. / Mohammad, Aran; Habich, Tim Lukas; Seel, Thomas et al.
In: IEEE transactions on robotics, Vol. 42, 2026, p. 1784-1803.

Research output: Contribution to journal › Article › Research › peer review

Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. / Mohammad, Aran; Piosik, Jan; Lehmann, Dustin et al.
In: IEEE Robotics and Automation Letters, Vol. 10, No. 7, 07.2025, p. 7547 - 7554.

Research output: Contribution to journal › Article › Research › peer review

Combined structural and dimensional synthesis of task-specific parallel-robot manipulators: functional redundancy and design optimization. / Schappler, Moritz.
Hannover: Leibniz Universität Hannover, 2025. 284 p.

Research output: Thesis › Doctoral thesis

Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy. / Schappler, Moritz.
In: Robotics, Vol. 14, No. 3, 29, 04.03.2025.

Research output: Contribution to journal › Article › Research › peer review

A Modular and Open-Source Remote Laboratory for Practical Education on Mechatronic Test Benches. / Sterneck, Tim; Zumsande, Johannes; Habich, Tim Lukas et al.
Robotics in Education - Proceedings of the RiE 2025 Conference. ed. / Richard Balogh; David Obdržálek; Nikolaos Fachantidis. Springer Science and Business Media Deutschland GmbH, 2025. p. 460-473 (Lecture Notes in Networks and Systems; Vol. 1544 LNNS).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. / Bensch, Martin; Job, Tim David; Habich, Tim Lukas et al.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 17293-17299 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Grundlagen der Robotik. / Habich, Tim-Lukas; Schappler, Moritz; Ortmaier, Tobias.
Handbuch der Mess- und Automatisierungstechnik in der Produktion. ed. / Ulrich Grünhaupt; Martin Ruskowski. Berlin, Heidelberg: Springer Berlin Heidelberg, 2024. p. 1-14.

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

SPONGE: Open-Source Designs of Modular Articulated Soft Robots. / Habich, Tim Lukas; Haack, Jonas; Belhadj, Mehdi et al.
In: IEEE Robotics and Automation Letters, Vol. 9, No. 6, 06.2024, p. 5346-5353.

Research output: Contribution to journal › Article › Research › peer review

Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems. / Krauss, Henrik; Habich, Tim-Lukas; Bartholdt, Max et al.
Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics. Vol. 1 2024. p. 55-66 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. / Mehl, Maximilian; Bartholdt, Max; Ehlers, Simon F.G. et al.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 14939-14945 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. / Mohammad, Aran; Muscheid, Hendrik; Schappler, Moritz et al.
Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. ed. / Cristina Piazza; Patricia Capsi-Morales; Luis Figueredo; Manuel Keppler; Hinrich Schütze. 1. ed. Cham: Springer, 2024. p. 137-150 (Springer Proceedings in Advanced Robotics (SPAR); No. 29).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. / Schäfke, Hendrik; Habich, Tim-Lukas; Muhmann, Christian et al.
In: IEEE Robotics and Automation Letters, Vol. 9, No. 12, 11609, 12.2024, p. 11609-11616.

Research output: Contribution to journal › Article › Research › peer review

Roboteranwendungen. / Schappler, Moritz; Ortmaier, Tobias.
Handbuch der Mess- und Automatisierungstechnik in der Produktion. ed. / Ulrich Grünhaupt; Martin Ruskowski. Berlin, Heidelberg: Springer Berlin Heidelberg, 2024.

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. / Bartholdt, Max; Berthold, Rebecca; Schappler, Moritz.
2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2023. (IEEE International Conference on Soft Robotics).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. / Habich, Tim Lukas; Hueter, Melvin; Schappler, Moritz et al.
Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 9651-9657 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. / Habich, Tim Lukas; Kleinjohann, Sarah; Schappler, Moritz.
2023 IEEE International Conference on Soft Robotics, RoboSoft 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (IEEE International Conference on Soft Robotics).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models. / Job, Tim-David; Bensch, Martin; Schappler, Moritz.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 10224-10231 (Proceedings of the International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. / Mohammad, Aran; Schappler, Moritz; Ortmaier, Tobias.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. p. 5910-5917 ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. / Mohammad, Aran; Schappler, Moritz; Habich, Tim-Lukas et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023. p. 5966-5973 (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Last Change: 16.12.25 Print