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).

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A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors

Bartholdt, M. N., Wiese, M., Schappler, M., Spindeldreier, S. & Raatz, A., 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). S. 624-631 8 S. (IEEE/RSJ/GI International Conference on Intelligent Robots and Systems).

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Flachheitsbasierte Vorsteuerung eines elastisch-gekoppelten elektrischen Antriebssystems unter Verwendung von Trapezprofilen

Beckmann, D., Schappler, M., Dagen, M. & Ortmaier, T., 2015, Tagungsband VDE Mechatronik.

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New approach using flatness-based control in high speed positioning: Experimental results

Beckmann, D., Schappler, M., Dagen, M. & Ortmaier, T., März 2015, 2015 IEEE International Conference on Industrial Technology (ICIT). S. 351-356 6 S.

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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., S. 17293-17299 7 S. (Proceedings - IEEE International Conference on Robotics and Automation).

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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., S. 9651-9657 7 S. (Proceedings - IEEE International Conference on Robotics and Automation; Band 2023-May).

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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).

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Grundlagen der Robotik

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

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Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands

Haddadin, S., Johannsmeier, L., Schmid, J., Ende, T., Parusel, S., Haddadin, S., Schappler, M., Lilge, T. & Becker, M., 2 Sept. 2018, Robotics in Education: Methods and Applications for Teaching and Learning. Balogh, R., Obdrzalek, D., Lepuschitz, W., Merdan, M. & Koppensteiner, G. (Hrsg.). 1. Aufl. S. 3-17 15 S. (Advances in Intelligent Systems and Computing; Band 829).

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Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands

Haddadin, S., Johannsmeier, L., Becker, M., Schappler, M., Lilge, T., Haddadin, S., Schmid, J., Ende, T. & Parusel, S., 1 März 2018, HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction. Chicago, IL, USA: Association for Computing Machinery (ACM), S. 375-375 1 S. (ACM/IEEE International Conference on Human-Robot Interaction).

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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). S. 10224-10231 8 S. (Proceedings of the International Conference on Intelligent Robots and Systems).

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Trajectory optimization for the handling of elastically coupled objects via reinforcement learning and flatness-based control

Kaczor, D., Bensch, M., Schappler, M. & Ortmaier, T., 21 Juli 2020, Annals of scientific society for assembly, handling and industrial robotics. Berlin: Springer Verlag, S. 319-329

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Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids

Knöchelmann, E., Männel, A. & Schappler, M., 2021, IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. (IECON Proceedings (Industrial Electronics Conference); Band 2021-October).

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Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems

Krauss, H., Habich, T., Bartholdt, M., Seel, T. & Schappler, M., 2024, Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics.

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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). S. 376-383 8 S.

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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 Mai 2024, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., S. 14939-14945 7 S. (Proceedings - IEEE International Conference on Robotics and Automation).

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