Publications
Bartholdt MN. Simulation and State Estimation of Soft Continuum Robots. Gottfried Willhelm Leibniz Universität Hannover, 2026. 143 p. doi: 10.15488/21152
Habich TL, Mohammad A, Ehlers SFG, Bensch M, Seel T, Schappler M. Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks. IEEE Transactions on Robotics. 2026 Jan 16;42:619 - 636. Epub 2025 Nov 12. doi: 10.1109/TRO.2025.3631818, 10.48550/arXiv.2502.01916
Mohammad A, Habich TL, Seel T, Schappler M. SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution. IEEE transactions on robotics. 2026;42:1784-1803. Epub 2026 Feb 18. doi: 10.1109/TRO.2026.3666147
Pawluchin A, Habich TL, Seel T, Boblan I. Data-driven pressure controller using proportional piezoelectric valves for soft pneumatic actuators. MECHATRONICS. 2026;113:103428. 103428. doi: 10.1016/j.mechatronics.2025.103428
Mohammad A, Piosik J, Lehmann D, Seel T, Schappler M. Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. IEEE Robotics and Automation Letters. 2025 Jul;10(7):7547 - 7554. Epub 2025 Jun 2. doi: 10.1109/LRA.2025.3575326, 10.48550/arXiv.2505.08334
Schappler M. Combined structural and dimensional synthesis of task-specific parallel-robot manipulators: functional redundancy and design optimization. Hannover: Leibniz Universität Hannover, 2025. 284 p. doi: 10.15488/19028
Schappler M. Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy. Robotics. 2025 Mar 4;14(3):29. doi: 10.3390/robotics14030029
Sterneck T, Zumsande J, Habich TL, Mohammad A, Ehlers S, Schappler M et al. A Modular and Open-Source Remote Laboratory for Practical Education on Mechatronic Test Benches. In Balogh R, Obdržálek D, Fachantidis N, editors, Robotics in Education - Proceedings of the RiE 2025 Conference. Springer Science and Business Media Deutschland GmbH. 2025. p. 460-473. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-98762-5_39
Bensch M, Job TD, Habich TL, Seel T, Schappler M. Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. In 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). doi: 10.1109/ICRA57147.2024.10610742
Habich TL, Schappler M, Ortmaier T. Grundlagen der Robotik. In Grünhaupt U, Ruskowski M, editors, Handbuch der Mess- und Automatisierungstechnik in der Produktion. Berlin, Heidelberg: Springer Berlin Heidelberg. 2024. p. 1-14 doi: 10.1007/978-3-662-62424-1_59-3
Habich TL, Haack J, Belhadj M, Lehmann D, Seel T, Schappler M. SPONGE: Open-Source Designs of Modular Articulated Soft Robots. IEEE Robotics and Automation Letters. 2024 Jun;9(6):5346-5353. Epub 2024 Apr 15. doi: 10.48550/arXiv.2404.10734, 10.1109/LRA.2024.3388855
Krauss H, Habich TL, Bartholdt M, Seel T, Schappler M. Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems. In 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). doi: 10.5220/0012935200003822, 10.48550/arXiv.2408.14951
Mehl M, Bartholdt M, Ehlers SFG, Seel T, Schappler M. Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. In 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). doi: 10.1109/ICRA57147.2024.10610370
Mohammad A, Muscheid H, Schappler M, Seel T. Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. In Piazza C, Capsi-Morales P, Figueredo L, Keppler M, Schütze H, editors, Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics. 1. ed. Cham: Springer. 2024. p. 137-150. (Springer Proceedings in Advanced Robotics (SPAR); 29). doi: 10.1007/978-3-031-55000-3_10
Schäfke H, Habich TL, Muhmann C, Ehlers S, Seel T, Schappler M. Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. IEEE Robotics and Automation Letters. 2024 Dec;9(12):11609-11616. 11609. Epub 2024 Nov 11. doi: 10.1109/LRA.2024.3495579
Schappler M, Ortmaier T. Roboteranwendungen. In Grünhaupt U, Ruskowski M, editors, Handbuch der Mess- und Automatisierungstechnik in der Produktion. Berlin, Heidelberg: Springer Berlin Heidelberg. 2024 doi: 10.1007/978-3-662-62424-1_61-1
Stüde M. Environment and task modeling of long-term-autonomous service robots. Hannover: Leibniz Universität Hannover, 2024. 124 p. doi: 10.15488/16370
Zeipel H, Seel T, Habich TL, Ehlers SFG. Fast and Accurate Prediction of Vehicle Dynamics using Physics-Informed Neural Networks. 2024 Dec 12. Epub 2024 Dec 12. doi: 10.36227/techrxiv.173398186.65085317/v1
Bartholdt M, Berthold R, Schappler M. Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. In 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE. 2023. (IEEE International Conference on Soft Robotics). doi: 10.15488/15183, 10.1109/robosoft55895.2023.10122047
Habich TL, Hueter M, Schappler M, Spindeldreier S. Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. In 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). doi: 10.48550/arXiv.2303.00065, 10.1109/ICRA48891.2023.10161124