Reinhard M. Grassmann is a Ph.D. Student of Computer Science. His research interests are model-based and data-based methods for continuum robot kinematics as well as motion planning and control for continuum robots.

Before joining CRL in May 2019, Reinhard was Research Assistant at the Laboratory for Continuum Robotics at Leibniz University Hannover, Germany from April 2018 to April 2019. Reinhard obtained his B.Sc. and M.Sc. in Mechatronics from Leibniz University Hannover, Germany in 2016 and 2018 respectively.

Papers

2023

Open Continuum Robotics – One Actuation Module to Create them All

Grassmann, Reinhard M.; Shentu, Chengnan; Hamoda, Taqi; Dewi, Puspita Triana; Burgner-Kahrs, Jessica

Open Continuum Robotics – One Actuation Module to Create them All Journal Article

prePrint on arXiv, 2023

BibTeX, DOI, Details | Tags: design

2022

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

Grassmann, Reinhard M.; Chen, Ryan Z., Liang, Nan; Burgner-Kahrs, Jessica

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

BibTeX, DOI, Details | Tags: concentric_tube dataset machine_learning modeling

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

Grassmann, Reinhard M.; Chen, Ryan Z.; Liang, Nan; Burgner-Kahrs, Jessica

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings

Workshop on Learning from Diverse, Offline Data (L-DOD), Robotics -- Science & Systems, 2022

BibTeX, Link, Details | Tags: concentric_tube dataset machine_learning modeling

FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots

Reinhard M. Grassmann, Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs

FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots Journal Article

Frontiers in Robotics and AI, 9:873446 (19 pages), 2022

BibTeX, DOI, Details | Tags: control collaborating_continuum_robots hri teleoperation

2021

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation

Liang, Nan; Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2021

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning modeling shape_estimation

2020

CTCR Prototype Development - An Obstacle in the Research Community?

Grassmann, Reinhard; Lilge, Sven; Le, Phuong; Burgner-Kahrs, Jessica

CTCR Prototype Development - An Obstacle in the Research Community? Inproceedings

RSS 2020 Workshop RobRetro, 2020

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot retrospective

2019

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings

IEEE-RAS International Conference on Humanoid Robots, 2019

BibTeX, DOI, Details | Tags: continuum_robot quaternion robotics trajectory_planning

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article

IEEE Robotics and Automation Letters, 4 (4), pp. 4192–4199, 2019

BibTeX, DOI, Details | Tags: continuum_robot quaternion robotics trajectory_planning

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics - Science and Systems Conference, 10 pages, 2019

BibTeX, Link, Details | Tags: concentric_tube continuum_robot machine_learning robotics

2018

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning modeling