Dr.-Ing. Svenja Spindeldreier (née Tappe)

Dr.-Ing. Svenja Spindeldreier

Dr.-Ing. Svenja Spindeldreier
Dr.-Ing. Svenja Spindeldreier
Group Leader
Medical Technology & Image Processing
Research Staff
Institute of Mechatronic Systems


  • Within the research project Fully Actuated Electromagnetic Bending Actuator for Endoscopy a new concept for the realization of a fully actuated endoscope system in cooperation with the Institute of Drive Systems and Power Electronics (IAL) is researched. A fully actuated shaft avoids the disadvantages of conventional passive endoscopes, such as looping and the absorption of only minor manipulation forces. Therefore electromagnetic bending actuators with discrete states are developed at the IAL.

    By arranging these actuators one after the other, a hyperredundant system can be built up, with which discrete, but high-resolution bending forms can be realized. The tasks to be performed here include both the kinematic and the dynamic modelling of the actuators or actuator chain and the control and adjustment of the overall structure according to the "follow-the-leader" principle. The model parameters are identified on the functional model, laws for the miniaturization of the actuators are derived and integrated into the existing models. 





  • Project thesis: Identification of model parameters and experimental evaluation of the path-following accuracy of a hyperredundant electromagnetic manipulator


  • Project thesis: Influence of the systems dynamic on the motion planning of a hyper-redundant, electromagnetically actuated manipulator
  • Diploma thesis (external): Development and evaluation of a sensor fusion method for vehicle localization using classified landmarks from a visual sensor
  • Master thesis (external): Development of a visual inspection system for the detection and localization of tire flashes
  • Master thesis (external): Virtually Guided Path Planning for Autonomous Guided Vehicles
  • Master thesis: Development and implementation of a mobile robot with an implement for autonomous weed control
  • Project thesis: Navigation of a robot for autonomous weed removing
  • Master thesis: Time Efficient Motion Planning for a Hyper-Redundant, Binary Actuated Robot
  • Project thesis (external): Adaptive zero-velocity thresholding for foot-mounted inertial navigation systems


  • Master thesis: Avoidance of unintended movements of a binary-actuated, hyper redundant snake-like robot by increasing the holding torques of the tilting actuators
  • Bachelor thesis: Fitting Algorithms for Hyper-Redundant, Binary Actuated Robots
  • Master thesis: Proprioception of a hyperredundant endoscopic system based on a sensitive sheath
  • Master thesis: Evaluation of the Path Following Accuracy of a Hyper-Redundant, Electromagnetically Actuated Robot
  • Project thesis: Estimation of the Influence of External Forces on the Positioning Capabilities of a Snake-Like Robot
  • Diploma thesis: Concept, Implementation and Evaluation of a Hardware Module for Follow-the-Leader Control of a snake-like robot
  • Project thesis: Development of a Reference Modell for the Synthesis a Hyper-Redundant Manipulator Based on Binary Actuation
  • Project thesis: Evaluation of the Influence of different Materials on the Thermal Behaviour of an Electromagnetic Tilting Actuator
  • Master thesis (external): Modeling of the Robot Workcell using Low-Cost 3D Sensor


  • Bachelor thesis: Design of a Continuous End-Effector Segment for Position Error Compensation of a Binary Actuated Robot
  • Master thesis: „Follow-the-Leader“ Control Algorithm for a Binary Snake-like Robot with a Continuously Actuated End-Effector Platform
  • Master thesis: Complexity Reduction of the “Follow-the-Leader” Control Technique for a Snake-like Robot
  • Project thesis (external): Conception and Development of a ROS-based Mobile Autonomous System for Material Handling on the Basis of a Volksbot RT3 


  • Bachelor thesis: Evaluation of Path Following Capabilities for the Synthesis a Hyper-Redundant Manipulator Based on Binary Actuation


  • Master thesis: Optimized Follow-the-Leader Control for a Hyper-Redundant Robot Based on Electromagnetic Bending Actuators