Publications

Showing entries 1 - 20 out of 23
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Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. / Schappler, Moritz; Jahn, Philipp; Raatz, Annika; Ortmaier, Tobias.

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. 2022.

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; Spindeldreier, Svenja; Raatz, Annika.

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.

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

Sobi : An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. / Stuede, Marvin; Westermann, Konrad; Schappler, Moritz; Spindeldreier, Svenja.

2021 European Conference on Mobile Robots (ECMR): Proceedings, Virtual Conference 31 August - 3 September 2021. ed. / Sven Behnke; Emanuele Menegatti; Chris McCool. IEEE, 2021.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Trajectory optimization for the handling of elastically coupled objects via reinforcement learning and flatness-based control. / Kaczor, Daniel; Bensch, Martin; Schappler, Moritz; Ortmaier, Tobias.

Annals of scientific society for assembly, handling and industrial robotics. Berlin : Springer Verlag, 2020. p. 319-329.

Research output: Chapter in Book/Report/Conference proceedingContribution to book/anthologyResearchpeer review

Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints. / Schappler, Moritz; Ortmaier, Tobias.

Tagungsband der 6. IFToMM D-A-CH Konferenz. Lienz, Austria, 2020.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics. / Volkmann, Björn; Kaczor, Daniel; Tantau, Mathias; Schappler, Moritz; Ortmaier, Tobias.

2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. 2020. p. 912-919 9233709 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. / Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Haddadin, Simon; Schappler, Moritz; Lilge, Torsten; Becker, Marvin.

Robotics in Education - Methods and Applications for Teaching and Learning. ed. / Richard Balogh; David Obdrzalek; Wilfried Lepuschitz; Munir Merdan; Gottfried Koppensteiner. Vol. 829 Springer, Cham, 2019. p. 3-17 (Advances in Intelligent Systems and Computing; Vol. 829).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis. / Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias.

Mechanisms and Machine Science. Cham : Springer Netherlands, 2019. p. 1949-1958 (Mechanisms and Machine Science; Vol. 73).

Research output: Chapter in Book/Report/Conference proceedingContribution to book/anthologyResearchpeer review

Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. / Schappler, Moritz; Lilge, Torsten; Haddadin, Sami.

Mechanisms and Machine Science. ed. / T. Uhl. Vol. 73 Cham : Springer, Cham, 2019. p. 3157-3166 (Mechanisms and Machine Science; Vol. 73).

Research output: Chapter in Book/Report/Conference proceedingContribution to book/anthologyResearchpeer review

Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. / Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias.

In: Robotics, Vol. 8, No. 3, 68, 06.08.2019.

Research output: Contribution to journalArticleResearchpeer review

Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. / Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias.

Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Cham : Springer, Cham, 2019. p. 1701-1710 (Mechanisms and Machine Science).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. / Haddadin, Sami; Johannsmeier, Lars; Becker, Marvin; Schappler, Moritz; Lilge, Torsten; Haddadin, Simon; Schmid, Johannes; Ende, Tobias; Parusel, Sven.

HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction. Chicago, IL, USA : Association for Computing Machinery (ACM), 2018. p. 375-375 (ACM/IEEE International Conference on Human-Robot Interaction).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review

Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. / Kühn, Johannes; Hu, Tingli; Schappler, Moritz; Haddadin, Sami.

8 p. 2018. (2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018).

Research output: Other contributionOther publicationResearchpeer review

3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion. / Nülle, Kathrin; Tappe, Svenja; Ortmaier, Tobias; Schappler, Moritz; Lilge, Torsten; Haddadin, Sami.

2017.

Research output: Working paper/PreprintWorking paper/Discussion paper

Collision detection, isolation and identification for humanoids. / Vorndamme, Jonathan; Schappler, Moritz; Haddadin, Sami.

8 p. 2017.

Research output: Other contributionOther publicationResearchpeer review

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. / Vorndamme, Jonathan; Schappler, Moritz; Todtheide, Alexander; Haddadin, Sami.

8 p. 2016.

Research output: Other contributionOther publicationResearchpeer review

Flachheitsbasierte Vorsteuerung eines elastisch-gekoppelten elektrischen Antriebssystems unter Verwendung von Trapezprofilen. / Beckmann, D.; Schappler, M.; Dagen, Matthias; Ortmaier, Tobias.

Tagungsband VDE Mechatronik. 2015.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer review