List of Publications – Institute of Mechatronic Systems

Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. / Stuede, Marvin; Westermann, Konrad; Schappler, Moritz et al.
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 proceeding › Conference contribution › Research › peer review

Trajectory optimization for the handling of elastically coupled objects via reinforcement learning and flatness-based control. / Kaczor, Daniel; Bensch, Martin; Schappler, Moritz et al.
Annals of scientific society for assembly, handling and industrial robotics. Berlin: Springer Verlag, 2020. p. 319-329.

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

Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints. / Schappler, Moritz; Ortmaier, Tobias.
Sechste IFToMM D-A-CH Konferenz 2020. 2020.

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

Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics. / Volkmann, Björn; Kaczor, Daniel; Tantau, Mathias et al.
2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. 2020. p. 912-919 9233709 (IEEE International Conference on Mechatronics and Automation, ICMA 2020).

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

Towards semi-autonomous and soft-robotics enabled upper-limb exoprosthetics: First concepts and robot-based emulation prototype. / Kuhn, Johannes; Ringwald, Johannes; Schappler, Moritz et al.
2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. p. 9180-9186 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer 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 proceeding › Contribution to book/anthology › Research › peer 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 proceeding › Contribution to book/anthology › Research › peer 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, 09.2019.

Research output: Contribution to journal › Article › Research › peer 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 proceeding › Conference contribution › Research › peer review

Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. / Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes et al.
Robotics in Education: Methods and Applications for Teaching and Learning. ed. / Richard Balogh; David Obdrzalek; Wilfried Lepuschitz; Munir Merdan; Gottfried Koppensteiner. 1. ed. Springer, Cham, 2018. p. 3-17 (Advances in Intelligent Systems and Computing; Vol. 829).

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

Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. / Haddadin, Sami; Johannsmeier, Lars; Becker, Marvin et al.
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 proceeding › Conference contribution › Research › peer 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 et al.
8 p. 2018. (2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018).

Research output: Other contribution › Other publication › Research › peer review

3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion. / Nülle, Kathrin; Tappe, Svenja; Ortmaier, Tobias et al.
2017.

Research output: Working paper/Preprint › Working paper/Discussion paper

Collision detection, isolation and identification for humanoids. / Vorndamme, Jonathan; Schappler, Moritz; Haddadin, Sami.
8 p. 2017.

Research output: Other contribution › Other publication › Research › peer review

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. / Vorndamme, Jonathan; Schappler, Moritz; Todtheide, Alexander et al.
8 p. 2016.

Research output: Other contribution › Other publication › Research › peer review

Flachheitsbasierte Vorsteuerung eines elastisch-gekoppelten elektrischen Antriebssystems unter Verwendung von Trapezprofilen. / Beckmann, D.; Schappler, M.; Dagen, Matthias et al.
Tagungsband VDE Mechatronik. 2015.

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

New approach using flatness-based control in high speed positioning: Experimental results. / Beckmann, Daniel; Schappler, Moritz; Dagen, Matthias et al.
2015 IEEE International Conference on Industrial Technology (ICIT). IEEE, 2015. p. 351-356.

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

Team ViGIR. / Conner, David; Kohlbrecher, S.; Romay, A. et al.
2015.

Research output: Book/Report › Commissioned report › Research

Modeling, identification and joint impedance control of the atlas arms. / Schappler, Moritz; Vorndamme, Jonathan; Tödtheide, Alexander et al.
8 p. 2015. (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December).

Research output: Other contribution › Other publication › Research › peer review