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.
Papers
2022 |
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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 |
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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 |
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FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots Journal Article Frontiers in Robotics and AI, 9:873446 (19 pages), 2022 |
2021 |
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Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation Inproceedings IEEE International Conference on Robotics and Automation (ICRA), 2021 |
2020 |
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CTCR Prototype Development - An Obstacle in the Research Community? Inproceedings RSS 2020 Workshop RobRetro, 2020 |
2019 |
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Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings 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 Journal Article 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) Inproceedings Robotics - Science and Systems Conference, 10 pages, 2019 |
2018 |
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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 |