Reinhard M. Grassmann


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.

Publications

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Actuation Constraints in Continuum Robotics Revisited - 2 Dof Manifold and Clarke Transform

Reinhard M. Grassmann, Anastasiia Senyk, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation, Late Breaking News Poster, 2024.

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Open Continuum Robotics - One Actuation Module to Create them All

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

Frontiers in Robotics and AI, 11, 2024.

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On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots

Reinhard M. Grassmann, Anastassiia Senyk, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation, 2024.

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

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

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

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

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

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

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

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

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

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Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots

Nan Liang, Reinhard M Grassmann, Jessica Burgner-Kahrs

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

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CTCR Prototype Development - An Obstacle in the Research Community?

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

RSS 2020 Workshop RobRetro, 2020.

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Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Reinhard Grassmann, Jessica Burgner-Kahrs

IEEE-RAS International Conference on Humanoid Robots, 2019.

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

Reinhard Grassmann, Jessica Burgner-Kahrs

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

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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 Conference, 10 pages, 2019.

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

Reinhard Grassmann, Vincent Modes, Jessica Burgner-Kahrs

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