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ORCIDMoritz Schappler
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2020 – today
- 2024
[j3]Tim-Lukas Habich
, Jonas Haack, Mehdi Belhadj, Dustin Lehmann, Thomas Seel, Moritz Schappler:
SPONGE: Open-Source Designs of Modular Articulated Soft Robots. IEEE Robotics Autom. Lett. 9(6): 5346-5353 (2024)- [j2]Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler:
Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. IEEE Robotics Autom. Lett. 9(12): 11609-11616 (2024) - [c29]Henrik Krauss, Tim-Lukas Habich, Max Bartholdt, Thomas Seel, Moritz Schappler:
Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems. ICINCO (1) 2024: 55-66 - [c28]Maximilian Mehl, Max Bartholdt, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler:
Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. ICRA 2024: 14939-14945 - [c27]Martin Bensch, Tim-David Job, Tim-Lukas Habich, Thomas Seel, Moritz Schappler:
Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. ICRA 2024: 17293-17299 - [i12]Tim-Lukas Habich, Jonas Haack, Mehdi Belhadj, Dustin Lehmann, Thomas Seel, Moritz Schappler:
SPONGE: Open-Source Designs of Modular Articulated Soft Robots. CoRR abs/2404.10734 (2024) - [i11]Henrik Krauss, Tim-Lukas Habich, Max Bartholdt, Thomas Seel, Moritz Schappler:
Domain-decoupled Physics-informed Neural Networks with Closed-form Gradients for Fast Model Learning of Dynamical Systems. CoRR abs/2408.14951 (2024) - [i10]Aran Mohammad, Thomas Seel, Moritz Schappler:
Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis. CoRR abs/2408.15831 (2024) - [i9]Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler:
Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks. CoRR abs/2411.05616 (2024) - 2023
- [c26]Aran Mohammad, Hendrik Muscheid, Moritz Schappler, Thomas Seel:
Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. HFR 2023: 137-150 - [c25]Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier:
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. ICRA 2023: 9651-9657 - [c24]Aran Mohammad, Moritz Schappler, Tobias Ortmaier:
Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. ICRA 2023: 12092-12098 - [c23]Aran Mohammad, Moritz Schappler, Tobias Ortmaier:
Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. IROS 2023: 5910-5917 - [c22]Aran Mohammad, Moritz Schappler, Tim-Lukas Habich, Tobias Ortmaier:
Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. IROS 2023: 5966-5973 - [c21]Tim-David Job, Martin Bensch, Moritz Schappler:
Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models. IROS 2023: 10224-10231 - [c20]Max Bartholdt, Rebecca Berthold, Moritz Schappler:
Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. RoboSoft 2023: 1-8 - [c19]Tim-Lukas Habich, Sarah Kleinjohann, Moritz Schappler:
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. RoboSoft 2023: 1-7 - [i8]Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier:
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. CoRR abs/2303.00065 (2023) - [i7]Tim-Lukas Habich, Sarah Kleinjohann, Moritz Schappler:
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. CoRR abs/2303.01840 (2023) - [i6]Aran Mohammad, Moritz Schappler, Tobias Ortmaier:
Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. CoRR abs/2308.09633 (2023) - [i5]Aran Mohammad, Moritz Schappler, Tobias Ortmaier:
Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. CoRR abs/2308.09650 (2023) - [i4]Aran Mohammad, Moritz Schappler, Tim-Lukas Habich, Tobias Ortmaier:
Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. CoRR abs/2308.09656 (2023) - [i3]Aran Mohammad, Hendrik Muscheid, Moritz Schappler, Thomas Seel:
Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. CoRR abs/2308.09675 (2023) - 2022
- [c18]Moritz Schappler:
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. ARK 2022: 188-197 - [c17]Moritz Schappler:
Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. ARK 2022: 198-207 - [c16]Moritz Schappler, Tobias Blum, Tim-David Job:
Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. ARK 2022: 399-408 - [c15]Marvin Stuede, Moritz Schappler:
Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. IROS 2022: 126-133 - [c14]Maximilian Mehl, Max Bartholdt, Moritz Schappler:
Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. RoboSoft 2022: 1-8 - [i2]Marvin Stuede, Moritz Schappler:
Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. CoRR abs/2203.06911 (2022) - 2021
- [c13]Marvin Stuede, Konrad Westermann, Moritz Schappler, Svenja Spindeldreier:
Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. ECMR 2021: 1-8 - [c12]Moritz Schappler, Tobias Ortmaier:
Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. ICINCO 2021: 338-349 - [c11]Elias Knöchelmann, Alexander Männel, Moritz Schappler:
Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. IECON 2021: 1-6 - [c10]Max Bartholdt, Mats Wiese, Moritz Schappler, Svenja Spindeldreier, Annika Raatz:
A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. IROS 2021: 624-631 - [i1]Marvin Stuede, Konrad Westermann, Moritz Schappler, Svenja Spindeldreier:
Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. CoRR abs/2105.03242 (2021) - 2020
- [c9]Moritz Schappler, Tim-David Job, Tobias Ortmaier:
A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. MC 2020: 350-364
2010 – 2019
- 2019
- [j1]Moritz Schappler, Svenja Tappe, Tobias Ortmaier:
Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. Robotics 8(3): 68 (2019) - [c8]Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin:
Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. ICRA 2019: 9180-9186 - 2018
- [c7]Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel:
Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. HRI (Companion) 2018: 375 - [c6]Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker:
roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. RiE 2018: 3-17 - [c5]Johannes Kuehn, Tingli Hu, Moritz Schappler, Sami Haddadin:
Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. SIMPAR 2018: 158-165 - 2017
- [c4]Jonathan Vorndamme, Moritz Schappler, Sami Haddadin:
Collision detection, isolation and identification for humanoids. ICRA 2017: 4754-4761 - 2016
- [c3]Jonathan Vorndamme, Moritz Schappler, Alexander Toedtheide, Sami Haddadin:
Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. IROS 2016: 3360-3367 - 2015
- [c2]Moritz Schappler, Jonathan Vorndamme, Alexander Toedtheide, David C. Conner, Oskar von Stryk, Sami Haddadin:
Modeling, identification and joint impedance control of the atlas arms. Humanoids 2015: 1052-1059 - [c1]Daniel Beckmann, Moritz Schappler, Matthias Dagen, Tobias Ortmaier:
New approach using flatness-based control in high speed positioning: Experimental results. ICIT 2015: 351-356
Coauthor Index
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