Profile information
View graph of relations

Publications

  1. 2024
  2. Published

    Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks

    Schäfke, H., Habich, T., Muhmann, C., Ehlers, S., Seel, T. & Schappler, M., Dec 2024, In: IEEE Robotics and Automation Letters. 9, 12, p. 11609-11616 8 p., 11609.

    Research output: Contribution to journalArticleResearchpeer review

  3. Published

    Grundlagen der Robotik

    Habich, T., Schappler, M. & Ortmaier, T., 26 Jun 2024, Handbuch der Mess- und Automatisierungstechnik in der Produktion. Grünhaupt, U. & Ruskowski, M. (eds.). Berlin, Heidelberg, p. 1-14 14 p.

    Research output: Chapter in book/report/conference proceedingContribution to book/anthologyResearchpeer review

  4. Published

    SPONGE: Open-Source Designs of Modular Articulated Soft Robots

    Habich, T. L., Haack, J., Belhadj, M., Lehmann, D., Seel, T. & Schappler, M., Jun 2024, In: IEEE Robotics and Automation Letters. 9, 6, p. 5346-5353 8 p.

    Research output: Contribution to journalArticleResearchpeer review

  5. Published

    Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator

    Mehl, M., Bartholdt, M., Ehlers, S. F. G., Seel, T. & Schappler, M., 13 May 2024, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., p. 14939-14945 7 p. (Proceedings - IEEE International Conference on Robotics and Automation).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  6. Published

    Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots

    Mohammad, A., Muscheid, H., Schappler, M. & Seel, T., 10 Mar 2024, p. 137-150. 14 p.

    Research output: Contribution to conferencePaperResearchpeer review

  7. Published

    Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory

    Bensch, M., Job, T. D., Habich, T. L., Seel, T. & Schappler, M., 2024, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., p. 17293-17299 7 p. (Proceedings - IEEE International Conference on Robotics and Automation).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  8. 2023
  9. Published

    Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection

    Schappler, M., 23 Feb 2023, Informatics in Control, Automation and Robotics . Gusikhin, O., Madani, K. & Nijmeijer, H. (eds.). Cham, p. 106-131 26 p. (Lecture Notes in Electrical Engineering; vol. 1006 LNEE).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  10. Published

    Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration

    Mohammad, A., Schappler, M. & Ortmaier, T., 2023, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 5910-5917 8 p. ( Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  11. Published

    Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics

    Habich, T. L., Hueter, M., Schappler, M. & Spindeldreier, S., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 9651-9657 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  12. Published

    Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes

    Habich, T. L., Kleinjohann, S. & Schappler, M., 2023, 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023. Institute of Electrical and Electronics Engineers Inc., (IEEE International Conference on Soft Robotics).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  13. Published

    Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models

    Job, T., Bensch, M. & Schappler, M., 2023, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 10224-10231 8 p. (Proceedings of the International Conference on Intelligent Robots and Systems).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  14. Published

    Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration

    Mohammad, A., Schappler, M., Habich, T. & Ortmaier, T., 2023, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 5966-5973 8 p. (Key-title Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  15. Published

    Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control

    Sterneck, T., Fettin, J. & Schappler, M., 2023, Proceedings of I4SDG Workshop 2023. Petuya, V., Quaglia, G., Parikyan, T. & Carbone, G. (eds.). Cham, p. 105-114 10 p. (Mechanisms and Machine Science; vol. 134 ).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  16. Published

    Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material

    Bartholdt, M., Berthold, R. & Schappler, M., 2023, 2023 IEEE International Conference on Soft Robotics (RoboSoft). (IEEE International Conference on Soft Robotics).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  17. Published

    Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection

    Mohammad, A., Schappler, M. & Ortmaier, T., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 12092-12098 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  18. 2022
  19. Published

    Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy

    Schappler, M., Blum, T. & Job, T., 18 Jun 2022, Advances in Robot Kinematics 2022. Altuzarra, O. & Kecskeméthy, A. (eds.). p. 399-408 10 p. (Springer Proceedings in Advanced Robotics; vol. 24 SPAR).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  20. Published

    Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints

    Schappler, M., 18 Jun 2022, Advances in Robot Kinematics 2022. Altuzarra, O. & Kecskeméthy, A. (eds.). p. 198-207 10 p. (Springer Proceedings in Advanced Robotics; vol. 24 SPAR).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  21. Published

    Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints

    Schappler, M., 18 Jun 2022, Advances in Robot Kinematics 2022. Altuzarra, O. & Kecskeméthy, A. (eds.). p. 188-197 10 p. (Springer Proceedings in Advanced Robotics; vol. 24 SPAR).

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  22. Published

    Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks

    Schappler, M., Jahn, P., Raatz, A. & Ortmaier, T., 1 Jan 2022, Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021. Cham

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

  23. Published

    Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach

    Mehl, M., Bartholdt, M. N. & Schappler, M., 2022, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). p. 376-383 8 p.

    Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Previous 1 2 3 Next