Moritz Schappler

52 papers A* 6A 6C 3Journal 23Unranked 14

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Active Stereo-Camera Outperforms Multi-Sensor Setup in ACT Imitation Learning for Humanoid Manipulation. CoRR Robin Kühn, Moritz Schappler, Thomas Seel, Dennis Bank
2026	J	`jnl`	Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots Using Physics-Informed Neural Networks. IEEE Trans. Robotics Tim-Lukas Habich, Aran Mohammad, Simon F. G. Ehlers, Martin Bensch, Thomas Seel, Moritz Schappler
2025	J	`jnl`	Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory. CoRR Johann Licher, Max Bartholdt, Henrik Krauss, Tim-Lukas Habich, Thomas Seel, Moritz Schappler
2025	J	`jnl`	Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy. Robotics Moritz Schappler
2025	J	`jnl`	Fast Contact Detection Via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. IEEE Robotics Autom. Lett. Aran Mohammad, Jan Piosik, Dustin Lehmann, Thomas Seel, Moritz Schappler
2025	J	`jnl`	Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. CoRR Aran Mohammad, Jan Piosik, Dustin Lehmann, Thomas Seel, Moritz Schappler
2025	J	`jnl`	Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks. CoRR Tim-Lukas Habich, Aran Mohammad, Simon F. G. Ehlers, Martin Bensch, Thomas Seel, Moritz Schappler
2025	J	`jnl`	SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution. CoRR Aran Mohammad, Tim-Lukas Habich, Thomas Seel, Moritz Schappler
2024	A*	`conf`	Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. ICRA Maximilian Mehl, Max Bartholdt, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler
2024	C	`conf`	Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems. ICINCO (1) Henrik Krauss, Tim-Lukas Habich, Max Bartholdt, Thomas Seel, Moritz Schappler
2024	J	`jnl`	Domain-decoupled Physics-informed Neural Networks with Closed-form Gradients for Fast Model Learning of Dynamical Systems. CoRR Henrik Krauss, Tim-Lukas Habich, Max Bartholdt, Thomas Seel, Moritz Schappler
2024	J	`jnl`	Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. IEEE Robotics Autom. Lett. Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler
2024	J	`jnl`	Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks. CoRR Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler
2024	A*	`conf`	Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. ICRA Martin Bensch, Tim-David Job, Tim-Lukas Habich, Thomas Seel, Moritz Schappler
2024	J	`jnl`	SPONGE: Open-Source Designs of Modular Articulated Soft Robots. CoRR Tim-Lukas Habich, Jonas Haack, Mehdi Belhadj, Dustin Lehmann, Thomas Seel, Moritz Schappler
2024	J	`jnl`	SPONGE: Open-Source Designs of Modular Articulated Soft Robots. IEEE Robotics Autom. Lett. Tim-Lukas Habich, Jonas Haack, Mehdi Belhadj, Dustin Lehmann, Thomas Seel, Moritz Schappler
2024	J	`jnl`	Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis. CoRR Aran Mohammad, Thomas Seel, Moritz Schappler
2023	A	`conf`	Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. IROS Aran Mohammad, Moritz Schappler, Tobias Ortmaier
2023	J	`jnl`	Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. CoRR Aran Mohammad, Moritz Schappler, Tobias Ortmaier
2023	A*	`conf`	Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. ICRA Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier
2023	J	`jnl`	Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. CoRR Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier
2023	—	`conf`	Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. RoboSoft Tim-Lukas Habich, Sarah Kleinjohann, Moritz Schappler
2023	J	`jnl`	Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. CoRR Tim-Lukas Habich, Sarah Kleinjohann, Moritz Schappler
2023	A	`conf`	Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models. IROS Tim-David Job, Martin Bensch, Moritz Schappler
2023	—	`conf`	Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. HFR Aran Mohammad, Hendrik Muscheid, Moritz Schappler, Thomas Seel
2023	J	`jnl`	Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. CoRR Aran Mohammad, Hendrik Muscheid, Moritz Schappler, Thomas Seel
2023	A	`conf`	Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. IROS Aran Mohammad, Moritz Schappler, Tim-Lukas Habich, Tobias Ortmaier
2023	J	`jnl`	Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. CoRR Aran Mohammad, Moritz Schappler, Tim-Lukas Habich, Tobias Ortmaier
2023	A*	`conf`	Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. ICRA Aran Mohammad, Moritz Schappler, Tobias Ortmaier
2023	J	`jnl`	Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. CoRR Aran Mohammad, Moritz Schappler, Tobias Ortmaier
2023	—	`conf`	Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. RoboSoft Max Bartholdt, Rebecca Berthold, Moritz Schappler
2022	—	`conf`	Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. RoboSoft Maximilian Mehl, Max Bartholdt, Moritz Schappler
2022	—	`conf`	Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. ARK Moritz Schappler, Tobias Blum, Tim-David Job
2022	—	`conf`	Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. ARK Moritz Schappler
2022	A	`conf`	Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. IROS Marvin Stuede, Moritz Schappler
2022	J	`jnl`	Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. CoRR Marvin Stuede, Moritz Schappler
2022	—	`conf`	Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. ARK Moritz Schappler
2021	A	`conf`	A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. IROS Max Bartholdt, Mats Wiese, Moritz Schappler, Svenja Spindeldreier, Annika Raatz
2021	C	`conf`	Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. ICINCO Moritz Schappler, Tobias Ortmaier
2021	—	`conf`	Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. ECMR Marvin Stuede, Konrad Westermann, Moritz Schappler, Svenja Spindeldreier
2021	J	`jnl`	Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. CoRR Marvin Stuede, Konrad Westermann, Moritz Schappler, Svenja Spindeldreier
2021	C	`conf`	Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. IECON Elias Knöchelmann, Alexander Männel, Moritz Schappler
2020	—	`conf`	A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. MC Moritz Schappler, Tim-David Job, Tobias Ortmaier
2019	J	`jnl`	Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. Robotics Moritz Schappler, Svenja Tappe, Tobias Ortmaier
2019	A*	`conf`	Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. ICRA Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin
2018	—	`conf`	Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. SIMPAR Johannes Kuehn, Tingli Hu, Moritz Schappler, Sami Haddadin
2018	—	`conf`	Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. HRI (Companion) Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel
2018	—	`conf`	roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. RiE Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker
2017	A*	`conf`	Collision detection, isolation and identification for humanoids. ICRA Jonathan Vorndamme, Moritz Schappler, Sami Haddadin
2016	A	`conf`	Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. IROS Jonathan Vorndamme, Moritz Schappler, Alexander Toedtheide, Sami Haddadin
2015	—	`conf`	Modeling, identification and joint impedance control of the atlas arms. Humanoids Moritz Schappler, Jonathan Vorndamme, Alexander Toedtheide, David C. Conner, Oskar von Stryk, Sami Haddadin
2015	—	`conf`	New approach using flatness-based control in high speed positioning: Experimental results. ICIT Daniel Beckmann, Moritz Schappler, Matthias Dagen, Tobias Ortmaier