Reinhard M. Grassmann
I am a Ph.D. Candidate with the Department of Computer Science and a research assistant with
the Continuum Robotics Laboratory at the
University of Toronto, Canada.
I work on continuum robotics and machine learning.
Before all that, I completed a B.Sc. and a M.Sc. Degree in Mechatronics at the Leibniz University Hannover, Germany in 2016
and 2018, respectively.
From 2018 to 2019 I worked as a research assistant at the Lehrstuhl fuer Kontinuumsrobotik
at the Leibniz University Hannover.
Email  / 
Bio  / 
Google Scholar
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GitHub  / 
Semantic Scholar
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Research
I'm interested in continuum robotics, machine learning, and dual quaternions.
Aside from that, creativity, innovation, and philosophy of science are also part of my field of interest to some extent.
During my research adventures, I have gratefully collaborated or am still collaborating with
(in alphabetical order)
J. Burgner-Kahrs,
R. Z. Chen,
P. T. Dewi,
S. Haddadin,
T. Hamoda,
L. Johannsmeier,
V. Modes,
P. Le,
N. Liang,
S. Lilge,
Q. Peyron,
P. Rao,
A. Senyk,
and,
C. Shentu.
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Clarke Transform — A Fundamental Tool for Continuum Robotics
Reinhard M. Grassmann,
Anastasiia Senyk,
Jessica Burgner-Kahrs
arXiv, 2024
paper
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arXiv
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BibTex
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Cheat Sheet
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extended abstract (arXiv)
We propose the Clarke transform and Clarke coordinates enabling the development of methods on the two-dimensional manifold embedded in the n-dimensional joint space.
#Manifold #Representation #ContinuumRobot
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On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots
Reinhard M. Grassmann,
Anastasiia Senyk,
Jessica Burgner-Kahrs
IEEE ICRA, 2024
paper
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IEEE Xplore
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arXiv
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BibTex
We derive and investigate the lower triangular transformation matrix to disentangle the tube inequalities.
#Disentanglement #Representation #ContinuumRobot
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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, 2024
paper
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arXiv
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Front. Robot. AI
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BibTex
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OpenCR Project
To democratize continuum robots research, we propose an actuation module to build torque-controlled continuum robots and provide open-source software and hardware with
our initiative called the Open Continuum Robotics Project.
#Design #TorqueControl #ContinuumRobot
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A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum
Robots
Reinhard M. Grassmann,
Ryan Zeyuan Chen,
Nan Liang,
Jessica Burgner-Kahrs
IEEE/RAS IROS, 2022
paper
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IEEE Xplore
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BibTex
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GitHub
We provide the first public dataset for a three-tube CTCR to democratize research on
learning-based and physics-based modelling of the kinematics.
#Dataset #MachineLearning #ContinuumRobot
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FAS -- A Fully Actuated Segment for Tendon-Driven Continuum Robots
Reinhard M. Grassmann,
Priyanka Rao,
Quentin Peyron,
Jessica Burgner-Kahrs
Frontiers in Robotics and AI, 2022
paper
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Front. Robot. AI
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BibTex
To achieve variable tendon routing, we propose a segment design that combines two distinct characteristics of tendon-driven
continuum robots, i.e. variable length and non-straight tendon routing, into a single
segment by enabling rotation of its backbone.
#Design #VariableTendonRouting #ContinuumRobot
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Learning-based Inverse Kinematics from Shape as Input for Concentric Tube
Continuum Robots
Nan Liang
Reinhard M. Grassmann,
Sven Lilge,
Jessica Burgner-Kahrs
IEEE ICRA, 2021
paper
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IEEE Xplore
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BibTex
We introduce methodologies to compute the inverse kinematics for concentric tube continuum
robots from a desired shape as input.
#MachineLearning #ShapeRepresentation #ContinuumRobot
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CTCR Prototype Development: An Obstacle in the Research Community?
Reinhard M. Grassmann,
Sven Lilge,
Phuong Le,
Jessica Burgner-Kahrs
IFRR RSS Workshop on Retrospectives in Robotics, 2020
paper
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OpenReview
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RSS Workshop:
Robotics Retrospectives
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YouTube
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BibTex
We discuss the impact of the current habit of developing a variety of different prototypes on
the emergence of a ubiquitous robotic platform.
#SystemThinking #ContinuumRobot
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Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering
Kinematic Limits in Cartesian Space
Reinhard M. Grassmann,
Jessica Burgner-Kahrs
IEEE RA-L, 2019
paper
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IEEE Xplore
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BibTex
We address the problem of generating a singularity-free trajectory for multiple via poses in
SE(3), while complying with the requirement of C4 continuity.
#TrajectoryGeneration #Quaternion #LightWeightRobot
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On the Merits of Joint Space and Orientation Representations in Learning the
Forward Kinematics in SE(3)
Reinhard M. Grassmann,
Jessica Burgner-Kahrs
IFRR RSS, 2019
paper
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RSS XV
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BibTex
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Poster
We investigate the influence of different joint space and orientation representations on the
approximation of the forward kinematics.
#MachineLearning #Quaternion #ContinuumRobot
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Smooth Point-to-Point Trajectory Planning in SE(3) with Self-Collision and Joint
Constraints Avoidance
Reinhard M. Grassmann,
Lars Johannsmeier,
Sami Haddadin
IEEE/RSJ IROS, 2018
paper
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IEEE Xplore
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BibTex
We introduce a point-to-point trajectory planner for serial robotic structures that combines
the ability to avoid self-collisions and to respect motion constraints, while complying with
the requirement of being C4 continuous.
#TrajectoryGeneration #Quaternion #LightWeightRobot
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Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum
Robot in SE(3)
Reinhard M. Grassmann,
Vincent Modes,
Jessica Burgner-Kahrs
IEEE/RSJ IROS, 2018
paper
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IEEE Xplore
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BibTex
We introduce a joint description to learn the forward and inverse kinematics for concentric
tube continuum robots from real robot measurements.
#MachineLearning #Quaternion #ContinuumRobot
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"Artificial Neural Networks for Learning Forward and Inverse Kinematics of Tubular
Continuum Robots"
Master’s thesis supervised by Prof.
Dr.-Ing. Jessica Burgner-Kahrs
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"Generating Smooth Trajectories for Obstacle Avoidance via Quaternions in Cartesian
Space"
Bachelor’s thesis supervised by Prof. Dr.-Ing. Sami
Haddadin
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"Data Fusion Using an Extended Kalman Filter for an Optically Navigated Light Weight
Robot"
Project thesis supervised by Prof. Dr.-Ing. Tobias Ortmaier
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Research Projects
Research projects with my involvement.
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