Publications

Showing results 1 - 20 out of 39

Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. / Mohammad, Aran; Muscheid, Hendrik; Schappler, Moritz et al.
2024.

Research output: Contribution to conferencePaperResearchpeer 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 proceedingConference contributionResearchpeer 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 proceedingConference contributionResearchpeer 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 proceedingConference contributionResearchpeer 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 proceedingConference contributionResearchpeer 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. ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer 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. (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. / Mohammad, Aran; Schappler, Moritz; Ortmaier, Tobias.
Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 12092-12098 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection. / Schappler, Moritz.
Informatics in Control, Automation and Robotics . ed. / Oleg Gusikhin; Kurosh Madani; Henk Nijmeijer. Cham: Springer, 2023. p. 106-131 (Lecture Notes in Electrical Engineering; Vol. 1006 LNEE).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control. / Sterneck, Tim; Fettin, Jannik; Schappler, Moritz.
Proceedings of I4SDG Workshop 2023. ed. / Victor Petuya; Giuseppe Quaglia; Tigran Parikyan; Giuseppe Carbone. Cham: Springer, 2023. p. 105-114 (Mechanisms and Machine Science; Vol. 134 ).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. / Mehl, Maximilian; Bartholdt, Max Niklas; Schappler, Moritz.
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). IEEE, 2022. p. 376-383.

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. / Schappler, Moritz; Jahn, Philipp; Raatz, Annika et al.
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. Cham: Springer, 2022.

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. / Schappler, Moritz; Blum, Tobias; Job, Tim-David.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 399-408 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. / Schappler, Moritz.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 198-207 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. / Schappler, Moritz.
Advances in Robot Kinematics 2022. ed. / Oscar Altuzarra; Andrés Kecskeméthy. Springer, Cham, 2022. p. 188-197 (Springer Proceedings in Advanced Robotics; Vol. 24 SPAR).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. / Stuede, Marvin; Schappler, Moritz.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. p. 126-133 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2022-October).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. / Bartholdt, Max Niklas; Wiese, Mats; Schappler, Moritz et al.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021. p. 624-631 (IEEE/RSJ/GI International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. / Knöchelmann, Elias; Männel, Alexander; Schappler, Moritz.
IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. 2021. (IECON Proceedings (Industrial Electronics Conference); Vol. 2021-October).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. / Schappler, Moritz; Job, Tim-David; Ortmaier, Tobias.
Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. ed. / Robert M. Corless; Jürgen Gerhard; Ilias S. Kotsireas. Cham: Springer, Cham, 2021. p. 350-364 (Communications in Computer and Information Science; Vol. 1414).

Research output: Chapter in book/report/conference proceedingContribution to book/anthologyResearchpeer review

Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. / Schappler, Moritz; Ortmaier, Tobias.
Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin; Henk Nijmeijer; Kurosh Madani. Vol. 1 2021. p. 338-349.

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review