Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance. - Reinhard Grassmann; Lars Johannsmeier; Sami Haddadin (IROS, 2018)

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum Robot in SE(3). - Reinhard Grassmann; Vincent Modes; Jessica Burgner-Kahrs (IROS, 2018)

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3). - Reinhard Grassmann; Jessica Burgner-Kahrs (Robotics: Science and Systems, 2019)

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space. - Reinhard Grassmann; Jessica Burgner-Kahrs (IEEE Robotics Autom. Lett., 2019)

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots. - Nan Liang; Reinhard M. Grassmann; Sven Lilge; Jessica Burgner-Kahrs (ICRA, 2021)

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots. - Reinhard M. Grassmann; Ryan Zeyuan Chen; Nan Liang; Jessica Burgner-Kahrs (IROS, 2022)

FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots. - Reinhard M. Grassmann; Priyanka Rao; Quentin Peyron; Jessica Burgner-Kahrs (Frontiers Robotics AI, 2022)

On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots. - Reinhard M. Grassmann; Anastasiia Senyk; Jessica Burgner-Kahrs (ICRA, 2024)

Clarke Transform and Clarke Coordinates - A New Kid on the Block for State Representation of Continuum Robots. - Reinhard M. Grassmann; Jessica Burgner-Kahrs (CoRR, 2024)

Clarke Transform - A Fundamental Tool for Continuum Robotics. - Reinhard Grassmann; Anastasiia Senyk; Jessica Burgner-Kahrs (CoRR, 2024)

Using Clarke Transform to Create a Framework on the Manifold: From Sampling via Trajectory Generation to Control. - Reinhard M. Grassmann; Jessica Burgner-Kahrs (CoRR, 2024)

Open continuum robotics-one actuation module to create them all. - Reinhard M. Grassmann; Chengnan Shentu; Taqi Hamoda; Puspita Triana Dewi; Jessica Burgner-Kahrs (Frontiers Robotics AI, 2024)

Clarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots. - Reinhard M. Grassmann; Jessica Burgner-Kahrs (RoboSoft, 2025)

Clarke Coordinates Are Generalized Improved State Parametrization for Continuum Robots. - Reinhard M. Grassmann; Jessica Burgner-Kahrs (CoRR, 2025)

Displacement-Actuated Continuum Robots: A Joint Space Abstraction. - Reinhard M. Grassmann; Jessica Burgner-Kahrs (CoRR, 2025)

Toward Dynamic Control of Tendon-Driven Continuum Robots using Clarke Transform. - Christian Muhmann; Reinhard M. Grassmann; Max Bartholdt; Jessica Burgner-Kahrs (CoRR, 2025)