Publications
Eugster S, Harsch J, Bartholdt MN, Herrmann M, Wiese M, Capobianco G. Soft Pneumatic Actuator Model Based on a Pressure-Dependent Spatial Nonlinear Rod Theory. IEEE Robotics and Automation Letters. 2022 Jan 25;7(2):2471-2478.
Mehl M, Bartholdt MN, Schappler M. Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. In 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). IEEE. 2022. p. 376-383
Schappler M, Jahn P, Raatz A, Ortmaier T. Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. 2022
Schappler M, Blum T, Job T-D. Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. In Altuzarra O, Kecskeméthy A, editors, Advances in Robot Kinematics 2022. Springer, Cham. 2022. p. 399-408. (Springer Proceedings in Advanced Robotics).
Schappler M. Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. In Altuzarra O, Kecskeméthy A, editors, Advances in Robot Kinematics 2022. Springer, Cham. 2022. p. 198-207. (Springer Proceedings in Advanced Robotics).
Schappler M. Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. In Altuzarra O, Kecskeméthy A, editors, Advances in Robot Kinematics 2022. Springer, Cham. 2022. p. 188-197. (Springer Proceedings in Advanced Robotics).
Banerjee SS, Arief I, Berthold R, Wiese M, Bartholdt M, Ganguli D et al. Super-elastic ultrasoft natural rubber-based piezoresistive sensors for active sensing interface embedded on soft robotic actuator. Applied Materials Today. 2021 Dec;25. 101219.
Bartholdt MN, Wiese M, Schappler M, Spindeldreier S, Raatz A. A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. In 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).
Berthold R, Bartholdt MN, Wiese M, Kahms S, Spindeldreier S, Raatz A. A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model. In 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE. 2021. p. 7-13
Habich T-L, Stuede M, Labbé M, Spindeldreier S. Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM. In Proceedings of the 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM): July 12-16, 2021, Delft, The Netherlands. 2021
Knöchelmann E, Männel A, Schappler M. Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. In IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. 2021. (IECON Proceedings (Industrial Electronics Conference)).
Schappler M, Job T-D, Ortmaier T. A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. In Corless RM, Gerhard J, Kotsireas IS, editors, Maple in Mathematics Education and Research - 4th Maple Conference, MC 2020, Revised Selected Papers: Maple in Mathematics Education and Research. Cham: Springer, Cham. 2021. p. 350-364. (Communications in Computer and Information Science).
Schappler M, Ortmaier T. Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. In Gusikhin O, Nijmeijer H, Madani K, editors, Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics. Vol. 1. 2021. p. 338-349
Stuede M, Lerche T, Petersen MA, Spindeldreier S. Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks. In Proceedings of the 2021 IEEE International Conferensce on Robotics and Automation (ICRA): May 30-June 5, Xi'an, China. 2021
Stuede M, Westermann K, Schappler M, Spindeldreier S. Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. In Behnke S, Menegatti E, McCool C, editors, 2021 European Conference on Mobile Robots (ECMR): Proceedings, Virtual Conference 31 August - 3 September 2021. IEEE. 2021
Ehlers SFG, Stuede M, Nülle K, Ortmaier T. Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. 2020. p. 9652-9658. 9196997
Kaczor D, Bensch M, Schappler M, Ortmaier T. Trajectory optimization for the handling of elastically coupled objects via reinforcement learning and flatness-based control. In Annals of scientific society for assembly, handling and industrial robotics. Berlin: Springer Verlag. 2020. p. 319-329
Schappler M, Ortmaier T. Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints. In Tagungsband der 6. IFToMM D-A-CH Konferenz. Lienz, Austria. 2020
Volkmann B, Kaczor D, Tantau M, Schappler M, Ortmaier T. Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics. In 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).
,Habich T-L, Kaczor D, Tappe S, Ortmaier T. Online Learning of the Inverse Dynamics with Parallel Drifting Gaussian Processes: Implementation of an Approach for Feedforward Control of a Parallel Kinematic Industrial Robot. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 962-969. 8816298. (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).