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Christian Bauer

Herr M.Sc.

Wissenschaftlicher Mitarbeiter "Antriebssysteme und -regelung"
Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen

Kontakt

+49 711 685 82432
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Seidenstr. 36
70174 Stuttgart
Deutschland
Raum: 5.021

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Fachgebiet

Dynamik- und Genauigkeitssteigerung von Antrieben
Systemidentifikation und modellbasierte Regelungstechnik

Publikationen

Veröffentlichungen:

2026
1. Bauer, Christian ; Nowinski, Simon: Replication Data for: „Transmission Error Compensation for Industrial Robots Using Fourier Series“ (2026). — Related to: C. Bauer, S. Nowinski, V. Kamm, L. Steinle, A. Lechler, A. Verl, „Transmission Error Compensation for Industrial Robots Using Fourier Series“, in Annals of Scientific Society for Assembly, Handling and Industrial Robots, Tagungsband des 10. Kongresses Montage, Handhabung und Industrierobotik, 2026
  Zusammenfassung
  This dataset contains all identification and validation data used in the conference paper "Transmission Error Compensation for Industrial Robots Using Fourier Series". The experimental data was recorded using an experimental setup to identify the transmission error of the gearboxes in a Stäubli TX2-40 as described in the paper. The data is divided into the two folders, "identification" and "validation" containing one file per measurement. The file names contain the parameter velocity setpoint q_set_dot in rad/s. Each measurement file contains a table with the input-side position theta in rad in the first column, joint angle setpoint q_set in rad in the second column, and the transmission error theta_TE in rad in the third column.The MATLAB script "plot_figures.m" can be used to plot the position domain data from the figures 3 to 6 in the publication. The function "read_data.m" is applied to import all measurement data into two MATLAB structure arrays "identification" and "validation".
  BibTeX
  @misc{bauer2026replication, abstract = {This dataset contains all identification and validation data used in the conference paper "Transmission Error Compensation for Industrial Robots Using Fourier Series". The experimental data was recorded using an experimental setup to identify the transmission error of the gearboxes in a Stäubli TX2-40 as described in the paper. The data is divided into the two folders, "identification" and "validation" containing one file per measurement. The file names contain the parameter velocity setpoint q_set_dot in rad/s. Each measurement file contains a table with the input-side position theta in rad in the first column, joint angle setpoint q_set in rad in the second column, and the transmission error theta_TE in rad in the third column.The MATLAB script "plot_figures.m" can be used to plot the position domain data from the figures 3 to 6 in the publication. The function "read_data.m" is applied to import all measurement data into two MATLAB structure arrays "identification" and "validation". }, affiliation = {Bauer, Christian Johannes Eugen/University of Stuttgart, Nowinski, Simon/University of Stuttgart}, author = {Bauer, Christian and Nowinski, Simon}, doi = {10.18419/darus-5760}, howpublished = {Dataset}, note = {Related to: C. Bauer, S. Nowinski, V. Kamm, L. Steinle, A. Lechler, A. Verl, "Transmission Error Compensation for Industrial Robots Using Fourier Series", in Annals of Scientific Society for Assembly, Handling and Industrial Robots, Tagungsband des 10. Kongresses Montage, Handhabung und Industrierobotik, 2026}, orcid-numbers = {Bauer, Christian Johannes Eugen/https://orcid.org/0009-0002-7979-3877, Nowinski, Simon/https://orcid.org/0009-0000-9545-5371}, title = {Replication Data for: "Transmission Error Compensation for Industrial Robots Using Fourier Series"}, year = 2026 }
  DOI
  10.18419/darus-5760
2025
1. Bauer, Christian ; Neher, Markus ; Kamm, Valentin ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Lubricant Temperature Observer for Gearboxes in Industrial Robots. In: IECON 2025 : 51st Annual Conference of the IEEE Industrial Electronics Society : IEEE, 2025 — ISBN 979-8-3315-9681-1 and 979-8-3315-9682-8
  - BibTeX
  - DOI
  BibTeX
  @inproceedings{bauer2025lubricant, author = {Bauer, Christian and Neher, Markus and Kamm, Valentin and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2025 : 51st Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON58223.2025.11221072}, eventdate = {2025-10-14/2025-10-17}, eventtitle = {IECON 2025 : 51st Annual Conference of the IEEE Industrial Electronics Society}, isbn = {{979-8-3315-9681-1} and {979-8-3315-9682-8}}, language = {eng}, publisher = {IEEE}, title = {Lubricant Temperature Observer for Gearboxes in Industrial Robots}, venue = {Madrid, Spain}, year = 2025 }
  DOI
  10.1109/IECON58223.2025.11221072
2. Kamm, Valentin ; Lehner, Jannik ; Bauer, Christian ; Lechler, Armin ; Verl, Alexander: External Torque Estimation in an Industrial Robot Joint Using Moving-Horizon-Estimation. In: Matt, D. T. ; Rauch, E. ; Dallasega, P. ; Gualtieri, L. ; De Marchi, M. (Hrsg.) ; Matt, D. T. ; Rauch, E. ; Dallasega, P. ; Gualtieri, L. ; De Marchi, M. (Hrsg.): Manufacturing 2030 - A Perspective to Future Challenges in Industrial Production : Proceedings of the 4th International Symposium on Industrial Engineering and Automation ISIEA 2025 and 18th EPIEM Conference 2025, Volume 1, Lecture Notes in Networks and Systems. Bd. 1 : Springer, 2025 — ISBN 978-3-032-03698-8 and 978-3-032-03697-1
  - BibTeX
  - DOI
  BibTeX
  @inproceedings{kamm2025external, address = {Cham}, author = {Kamm, Valentin and Lehner, Jannik and Bauer, Christian and Lechler, Armin and Verl, Alexander}, booktitle = {Manufacturing 2030 - A Perspective to Future Challenges in Industrial Production : Proceedings of the 4th International Symposium on Industrial Engineering and Automation ISIEA 2025 and 18th EPIEM Conference 2025, Volume 1}, doi = {10.1007/978-3-032-03698-8_21}, editor = {Matt, Dominik T. and Rauch, Erwin and Dallasega, Patrick and Gualtieri, Luca and De Marchi, Matteo}, eventdate = {2025-06-18/2025-06-20}, eventtitle = {4th International Symposium on Industrial Engineering and Automation ISIEA 2025 and 18th EPIEM Conference 2025}, isbn = {{978-3-032-03698-8} and {978-3-032-03697-1}}, language = {eng}, number = 1604, publisher = {Springer}, series = {Lecture Notes in Networks and Systems}, title = {External Torque Estimation in an Industrial Robot Joint Using Moving-Horizon-Estimation}, venue = {Bolzano, Italy}, volume = 1, year = 2025 }
  DOI
  10.1007/978-3-032-03698-8_21
3. Bauer, Christian ; Kamm, Valentin ; Dzubba, Marcel ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series. In: 2025 IEEE International Conference on Industrial Technology (ICIT) : IEEE, 2025 — ISBN 979-8-3315-2195-0 and 979-8-3315-2196-7
  - BibTeX
  - DOI
  BibTeX
  @inproceedings{bauer2025modeling, author = {Bauer, Christian and Kamm, Valentin and Dzubba, Marcel and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, booktitle = {2025 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT63637.2025.10965256}, eventdate = {2025-03-26/2025-03-28}, eventtitle = {2025 IEEE International Conference on Industrial Technology (ICIT)}, isbn = {{979-8-3315-2195-0} and {979-8-3315-2196-7}}, language = {eng}, publisher = {IEEE}, title = {Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series}, venue = {Wuhan, China}, year = 2025 }
  DOI
  10.1109/ICIT63637.2025.10965256
4. Bauer, Christian J. E. ; Lechler, Achim ; Verl, Alexander: Gesteigerte Bahngenauigkeit : Genauere Industrieroboter durch Kompensation der Getriebeübertragungsfehler. In: Antriebstechnik Bd. 64, Vereinigte Fachverlage (2025), S. 40–42
  - BibTeX
  - DOI
  BibTeX
  @article{bauer2025gesteigerte, author = {Bauer, Christian J. E. and Lechler, Achim and Verl, Alexander}, doi = {10.51202/2747-7991-2025-04-40}, issn = {{0722-8546} and {2747-7991}}, journal = {Antriebstechnik}, language = {ger}, number = 04, pages = {40-42}, publisher = {Vereinigte Fachverlage}, title = {Gesteigerte Bahngenauigkeit : Genauere Industrieroboter durch Kompensation der Getriebeübertragungsfehler}, volume = 64, year = 2025 }
  DOI
  10.51202/2747-7991-2025-04-40
5. Bauer, Christian Johannes Eugen: Replication Data for: „Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series“ (2025). — Related to: C. Bauer, V. Kamm, M. Dzubba, L. Steinle, A. Lechler, A. Verl, „Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series“, in 2025 IEEE International Conference on Industrial Technology (ICIT), Wuhan, China, 2025. doi: 10.1109/ICIT63637.2025.10965256
  Zusammenfassung
  This dataset contains all identification and validation data used in the conference paper "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series".The experimental data was recorded using an experimental setup to identify the transmission error of cycloidal drives as described in the paper.The data is divided into the two folders, "identification" and "validation" containing one file per measurement. The file names contain the parameter combination of load torque tau_load in N m, input-side velocity theta_dot in rad and lubricant temperature T in °C. Each measurement file contains a table with the input-side position theta in rad in the first column and the transmission error theta_TE in rad in the second column.The MATLAB script "plot_figures.m" can be used to plot the position domain data from the figures 3 to 6 in the publication.The function "read_data.m" is applied to import all measurement data into two MATLAB structure arrays "identification" and "validation".
  BibTeX
  @misc{bauer2025replication, abstract = {This dataset contains all identification and validation data used in the conference paper "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series".The experimental data was recorded using an experimental setup to identify the transmission error of cycloidal drives as described in the paper.The data is divided into the two folders, "identification" and "validation" containing one file per measurement. The file names contain the parameter combination of load torque tau_load in N m, input-side velocity theta_dot in rad and lubricant temperature T in °C. Each measurement file contains a table with the input-side position theta in rad in the first column and the transmission error theta_TE in rad in the second column.The MATLAB script "plot_figures.m" can be used to plot the position domain data from the figures 3 to 6 in the publication.The function "read_data.m" is applied to import all measurement data into two MATLAB structure arrays "identification" and "validation". }, affiliation = {Bauer, Christian Johannes Eugen/University of Stuttgart}, author = {Bauer, Christian Johannes Eugen}, doi = {10.18419/darus-4454}, howpublished = {Dataset}, note = {Related to: C. Bauer, V. Kamm, M. Dzubba, L. Steinle, A. Lechler, A. Verl, "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series", in 2025 IEEE International Conference on Industrial Technology (ICIT), Wuhan, China, 2025. doi: 10.1109/ICIT63637.2025.10965256}, orcid-numbers = {Bauer, Christian Johannes Eugen/https://orcid.org/0009-0002-7979-3877}, title = {Replication Data for: "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series"}, year = 2025 }
  DOI
  10.18419/darus-4454
6. Bauer, Christian ; Neher, Markus: Replication Data for: „Lubricant Temperature Observer for Gearboxes in Industrial Robots“ (2025). — Related to: C. Bauer, M. Neher, V. Kamm, L. Steinle, A. Lechler, A. Verl, „Lubricant Temperature Observer for Gearboxes in Industrial Robots“, in IECON 2025 - 51th Annual Conference of the IEEE Industrial Electronics Society, Madrid, Spain, 2025. doi: 10.1109/IECON58223.2025.11221072
  Zusammenfassung
  The dataset provides the temperature measurements used for identification and validation in the publication "Lubricant Temperature Observer for Gearboxes in Industrial Robots".It was recorded with the presented experimental setup, which represents an industrial robot joint consisting of motor and gearbox and is equipped with three temperature sensors.These sensors measure lubricant, housing and environment temperature. The dataset is divided into two folders: "identification" and "validation".The folder "validation" contains subfolders for the three validation scenarios described in the paper: heat-up, long-term and cool-down.Each file contains one measurement with the desired motor velocity theta_dot in rad/s given in the file name.The measurement data is structured in five columns: time t in s, lubricant temperature T_L in °C, housing temperature T_H in °C, environment temperature T_E in °C, motor velocity theta_dot in rad/s and friction torque tau_f in N m. The MATLAB function "read_data.m" can be used to import the dataset into a MATLAB structure array.It is used in the MATLAB script "plot_figures.m" to plot the temperature measurements.
  BibTeX
  @misc{bauer2025replication, abstract = {The dataset provides the temperature measurements used for identification and validation in the publication "Lubricant Temperature Observer for Gearboxes in Industrial Robots".It was recorded with the presented experimental setup, which represents an industrial robot joint consisting of motor and gearbox and is equipped with three temperature sensors.These sensors measure lubricant, housing and environment temperature. The dataset is divided into two folders: "identification" and "validation".The folder "validation" contains subfolders for the three validation scenarios described in the paper: heat-up, long-term and cool-down.Each file contains one measurement with the desired motor velocity theta_dot in rad/s given in the file name.The measurement data is structured in five columns: time t in s, lubricant temperature T_L in °C, housing temperature T_H in °C, environment temperature T_E in °C, motor velocity theta_dot in rad/s and friction torque tau_f in N m. The MATLAB function "read_data.m" can be used to import the dataset into a MATLAB structure array.It is used in the MATLAB script "plot_figures.m" to plot the temperature measurements. }, affiliation = {Bauer, Christian Johannes Eugen/University of Stuttgart, Neher, Markus/University of Stuttgart}, author = {Bauer, Christian and Neher, Markus}, doi = {10.18419/darus-5015}, howpublished = {Dataset}, note = {Related to: C. Bauer, M. Neher, V. Kamm, L. Steinle, A. Lechler, A. Verl, "Lubricant Temperature Observer for Gearboxes in Industrial Robots", in IECON 2025 - 51th Annual Conference of the IEEE Industrial Electronics Society, Madrid, Spain, 2025. doi: 10.1109/IECON58223.2025.11221072}, orcid-numbers = {Bauer, Christian Johannes Eugen/https://orcid.org/0009-0002-7979-3877}, title = {Replication Data for: "Lubricant Temperature Observer for Gearboxes in Industrial Robots"}, year = 2025 }
  DOI
  10.18419/darus-5015
2024
1. Bauer, Christian ; Lechler, Armin ; Verl, Alexander: Höhere Bahngenauigkeit : Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern. In: Antriebstechnik Bd. 9, Vereinigte Fachverl. (2024), S. 40–42
  - BibTeX
  - Link
  BibTeX
  @article{bauer2024hhere, author = {Bauer, Christian and Lechler, Armin and Verl, Alexander}, issn = {2747-7991}, journal = {Antriebstechnik}, language = {ger}, pages = {40-42}, publisher = {Vereinigte Fachverl.}, title = {Höhere Bahngenauigkeit : Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40}, volume = 9, year = 2024 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
2. Schäfer, Max B. ; Riepe, Sarah ; Parenzan, Matthias ; Bauer, Christian J. E. ; Hotz, Jonas ; Meiringer, Johannes G. ; Weiland, Sophie ; Pott, Peter P.: Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery. Bd. 10, 2024
  Zusammenfassung
  Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3 N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.
  BibTeX
  @proceedings{schafer2023haptic, abstract = {Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3 N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.}, author = {Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Bauer, Christian J. E. and Hotz, Jonas and Meiringer, Johannes G. and Weiland, Sophie and Pott, Peter P.}, booktitle = {Current Directions in Biomedical Engineering}, doi = {10.1515/cdbme-2024-1068}, eventdate = {24.-26.08.2023}, eventtitle = {CURAC 2023}, month = {09}, number = 2, title = {Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery}, url = {https://doi.org/10.1515/cdbme-2024-1068}, venue = {Basel}, volume = 10, year = 2024 }
  Link
  https://doi.org/10.1515/cdbme-2024-1068
  DOI
  10.1515/cdbme-2024-1068
3. Bauer, Christian ; Schäfer, Max B. ; Riepe, Sarah ; Parenzan, Matthias ; Weiland, Sophie ; Pott, Peter: Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach. In: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics : IEEE, 2024 — ISBN 979-8-3503-8652-3 and 979-8-3503-8653-0, S. 502–507
  - BibTeX
  - DOI
  BibTeX
  @inproceedings{bauer2024achieving, affiliation = {Schäfer, MB (Corresponding Author), Univ Stuttgart, Inst Med Device Technol, Pfaffenwaldring 9, D-70569 Stuttgart, Germany. Bauer, Christian J. E.; Schaefer, Max B.; Riepe, Sarah; Parenzan, Matthias; Weiland, Sophie; Pott, Peter P., Univ Stuttgart, Inst Med Device Technol, Pfaffenwaldring 9, D-70569 Stuttgart, Germany.}, affiliations = {University of Stuttgart}, author = {Bauer, Christian and Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Weiland, Sophie and Pott, Peter}, booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, doi = {10.1109/BIOROB60516.2024.10719769}, eventdate = {2024-09-01/2024-09-04}, eventtitle = {10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, isbn = {{979-8-3503-8652-3} and {979-8-3503-8653-0}}, language = {eng}, orcid-numbers = {Bauer, Christian Johannes Eugen/0009-0002-7979-3877}, pages = {502-507}, publisher = {IEEE}, research-areas = {Engineering; Robotics}, researcherid-numbers = {Bauer, Christian Johannes Eugen/JVP-8631-2024}, series = {Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics}, title = {Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach}, unique-id = {WOS:001346836000070}, venue = {Heidelberg}, year = 2024 }
  DOI
  10.1109/BIOROB60516.2024.10719769

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