Publikationen
Habich, T. L., Mohammad, A., Ehlers, S. F. G., Bensch, M., Seel, T., & Schappler, M. (2026). Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks. IEEE Transactions on Robotics, 42, 619 - 636. https://doi.org/10.1109/TRO.2025.3631818, https://doi.org/10.48550/arXiv.2502.01916
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Mohammad, A., Habich, T. L., Seel, T., & Schappler, M. (2026). SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution. IEEE transactions on robotics, 42, 1784-1803. https://doi.org/10.1109/TRO.2026.3666147
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Mohammad, A., Piosik, J., Lehmann, D., Seel, T., & Schappler, M. (2025). Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. IEEE Robotics and Automation Letters, 10(7), 7547 - 7554. https://doi.org/10.1109/LRA.2025.3575326, https://doi.org/10.48550/arXiv.2505.08334
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Schappler, M. (2025). Combined structural and dimensional synthesis of task-specific parallel-robot manipulators: functional redundancy and design optimization. [Dissertation, Gottfried Wilhelm Leibniz Universität Hannover]. Leibniz Universität Hannover. https://doi.org/10.15488/19028
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Schappler, M. (2025). Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy. Robotics, 14(3), Artikel 29. https://doi.org/10.3390/robotics14030029
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Sterneck, T., Zumsande, J., Habich, T. L., Mohammad, A., Ehlers, S., Schappler, M., & Seel, T. (2025). A Modular and Open-Source Remote Laboratory for Practical Education on Mechatronic Test Benches. in R. Balogh, D. Obdržálek, & N. Fachantidis (Hrsg.), Robotics in Education - Proceedings of the RiE 2025 Conference (S. 460-473). (Lecture Notes in Networks and Systems; Band 1544 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-98762-5_39
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Bensch, M., Job, T. D., Habich, T. L., Seel, T., & Schappler, M. (2024). 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 (S. 17293-17299). (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA57147.2024.10610742
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Habich, T.-L., Schappler, M., & Ortmaier, T. (2024). Grundlagen der Robotik. in U. Grünhaupt, & M. Ruskowski (Hrsg.), Handbuch der Mess- und Automatisierungstechnik in der Produktion (S. 1-14). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-662-62424-1_59-3
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Habich, T. L., Haack, J., Belhadj, M., Lehmann, D., Seel, T., & Schappler, M. (2024). SPONGE: Open-Source Designs of Modular Articulated Soft Robots. IEEE Robotics and Automation Letters, 9(6), 5346-5353. https://doi.org/10.48550/arXiv.2404.10734, https://doi.org/10.1109/LRA.2024.3388855
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Krauss, H., Habich, T.-L., Bartholdt, M., Seel, T., & Schappler, M. (2024). 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 (Band 1, S. 55-66). (Proceedings of the International Conference on Informatics in Control, Automation and Robotics). https://doi.org/10.5220/0012935200003822, https://doi.org/10.48550/arXiv.2408.14951
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Mehl, M., Bartholdt, M., Ehlers, S. F. G., Seel, T., & Schappler, M. (2024). 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 (S. 14939-14945). (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA57147.2024.10610370
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Mohammad, A., Muscheid, H., Schappler, M., & Seel, T. (2024). Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. in C. Piazza, P. Capsi-Morales, L. Figueredo, M. Keppler, & H. Schütze (Hrsg.), Human-Friendly Robotics 2023: HFR: 16th International Workshop on Human-Friendly Robotics (1. Aufl., S. 137-150). (Springer Proceedings in Advanced Robotics (SPAR); Nr. 29). Springer. https://doi.org/10.1007/978-3-031-55000-3_10
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Schäfke, H., Habich, T.-L., Muhmann, C., Ehlers, S., Seel, T., & Schappler, M. (2024). Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. IEEE Robotics and Automation Letters, 9(12), 11609-11616. Artikel 11609. https://doi.org/10.1109/LRA.2024.3495579
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Schappler, M., & Ortmaier, T. (2024). Roboteranwendungen. in U. Grünhaupt, & M. Ruskowski (Hrsg.), Handbuch der Mess- und Automatisierungstechnik in der Produktion Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-662-62424-1_61-1
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Bartholdt, M., Berthold, R., & Schappler, M. (2023). 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 International Conference on Soft Robotics). IEEE. https://doi.org/10.15488/15183, https://doi.org/10.1109/robosoft55895.2023.10122047
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Habich, T. L., Hueter, M., Schappler, M., & Spindeldreier, S. (2023). 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 (S. 9651-9657). (Proceedings - IEEE International Conference on Robotics and Automation; Band 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.48550/arXiv.2303.00065, https://doi.org/10.1109/ICRA48891.2023.10161124
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Habich, T. L., Kleinjohann, S., & Schappler, M. (2023). Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. in 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023 (IEEE International Conference on Soft Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.48550/arXiv.2303.01840, https://doi.org/10.1109/RoboSoft55895.2023.10122057
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Job, T.-D., Bensch, M., & Schappler, M. (2023). Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (S. 10224-10231). (Proceedings of the International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS55552.2023.10341897
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Mohammad, A., Schappler, M., & Ortmaier, T. (2023). Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (S. 5910-5917). ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). https://doi.org/10.48550/arXiv.2308.09650, https://doi.org/10.1109/iros55552.2023.10342345
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Mohammad, A., Schappler, M., Habich, T.-L., & Ortmaier, T. (2023). Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (S. 5966-5973). (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.48550/arXiv.2308.09656, https://doi.org/10.1109/iros55552.2023.10341581
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