Modeling, identification and joint impedance control of the atlas arms. - Moritz Schappler; Jonathan Vorndamme; Alexander Toedtheide; David C. Conner; Oskar von Stryk; Sami Haddadin (Humanoids, 2015)

New approach using flatness-based control in high speed positioning: Experimental results. - Daniel Beckmann; Moritz Schappler; Matthias Dagen; Tobias Ortmaier (ICIT, 2015)

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. - Jonathan Vorndamme; Moritz Schappler; Alexander Toedtheide; Sami Haddadin (IROS, 2016)

Collision detection, isolation and identification for humanoids. - Jonathan Vorndamme; Moritz Schappler; Sami Haddadin (ICRA, 2017)

roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. - Sami Haddadin; Lars Johannsmeier; Johannes Schmid; Tobias Ende; Sven Parusel; Simon Haddadin; Moritz Schappler; Torsten Lilge; Marvin Becker (RiE, 2018)

Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. - Johannes Kuehn; Tingli Hu; Moritz Schappler; Sami Haddadin (SIMPAR, 2018)

Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. - Johannes Kuehn; Johannes Ringwald; Moritz Schappler; Lars Johannsmeier; Sami Haddadin (ICRA, 2019)

Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. - Moritz Schappler; Svenja Tappe; Tobias Ortmaier (Robotics, 2019)

A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots. - Moritz Schappler; Tim-David Job; Tobias Ortmaier (MC, 2020)

Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments. - Marvin Stuede; Konrad Westermann; Moritz Schappler; Svenja Spindeldreier (ECMR, 2021)

Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. - Moritz Schappler; Tobias Ortmaier (ICINCO, 2021)

Three-Layer Hierarchical Model Predictive Control Concept for Industrial DC Microgrids. - Elias Knöchelmann; Alexander Männel; Moritz Schappler (IECON, 2021)

A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors. - Max Bartholdt; Mats Wiese; Moritz Schappler; Svenja Spindeldreier; Annika Raatz (IROS, 2021)

Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. - Moritz Schappler (ARK, 2022)

Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. - Moritz Schappler (ARK, 2022)

Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. - Moritz Schappler; Tobias Blum; Tim-David Job (ARK, 2022)

Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations. - Marvin Stuede; Moritz Schappler (IROS, 2022)

Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach. - Maximilian Mehl; Max Bartholdt; Moritz Schappler (RoboSoft, 2022)

Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots. - Aran Mohammad; Hendrik Muscheid; Moritz Schappler; Thomas Seel (HFR, 2023)

Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics. - Tim-Lukas Habich; Melvin Hueter; Moritz Schappler; Svenja Spindeldreier (ICRA, 2023)

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection. - Aran Mohammad; Moritz Schappler; Tobias Ortmaier (ICRA, 2023)

Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models. - Tim-David Job; Martin Bensch; Moritz Schappler (IROS, 2023)

Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration. - Aran Mohammad; Moritz Schappler; Tim-Lukas Habich; Tobias Ortmaier (IROS, 2023)

Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration. - Aran Mohammad; Moritz Schappler; Tobias Ortmaier (IROS, 2023)

Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. - Max Bartholdt; Rebecca Berthold; Moritz Schappler (RoboSoft, 2023)

Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes. - Tim-Lukas Habich; Sarah Kleinjohann; Moritz Schappler (RoboSoft, 2023)

Domain-Decoupled Physics-informed Neural Networks with Closed-Form Gradients for Fast Model Learning of Dynamical Systems. - Henrik Krauss; Tim-Lukas Habich; Max Bartholdt; Thomas Seel; Moritz Schappler (ICINCO (1), 2024)

Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory. - Martin Bensch; Tim-David Job; Tim-Lukas Habich; Thomas Seel; Moritz Schappler (ICRA, 2024)

Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. - Maximilian Mehl; Max Bartholdt; Simon F. G. Ehlers; Thomas Seel; Moritz Schappler (ICRA, 2024)

Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis. - Aran Mohammad; Thomas Seel; Moritz Schappler (CoRR, 2024)

SPONGE: Open-Source Designs of Modular Articulated Soft Robots. - Tim-Lukas Habich; Jonas Haack; Mehdi Belhadj; Dustin Lehmann; Thomas Seel; Moritz Schappler (IEEE Robotics Autom. Lett., 2024)

Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks. - Hendrik Schäfke; Tim-Lukas Habich; Christian Muhmann; Simon F. G. Ehlers; Thomas Seel; Moritz Schappler (IEEE Robotics Autom. Lett., 2024)

SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution. - Aran Mohammad; Tim-Lukas Habich; Thomas Seel; Moritz Schappler (CoRR, 2025)

Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks. - Tim-Lukas Habich; Aran Mohammad; Simon F. G. Ehlers; Martin Bensch; Thomas Seel; Moritz Schappler (CoRR, 2025)

Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy. - Moritz Schappler (Robotics, 2025)

Fast Contact Detection Via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. - Aran Mohammad; Jan Piosik; Dustin Lehmann; Thomas Seel; Moritz Schappler (IEEE Robotics Autom. Lett., 2025)

Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory. - Johann Licher; Max Bartholdt; Henrik Krauss; Tim-Lukas Habich; Thomas Seel; Moritz Schappler (CoRR, 2025)