S. Hepner

ETH Zurich, École Polytechnique Fédérale de Lausanne

Papers

Total Citations

241

H-Index

About

S. Hepner is a pioneering researcher in robotics, specializing in time-optimal motion planning for industrial assembly tasks. Their major contributions lie in developing rigorous mathematical frameworks to calculate the fastest possible trajectories for robotic manipulators under real-world constraints. Hepner’s work focuses on cylindrical robots, spherical robots, and horizontal articulated arms with two links, deriving exact equations of motion that account for limited torques and forces. By solving for time-optimal unconstrained paths between arbitrary fixed positions, they provided foundational insights that enhance efficiency in automated manufacturing. Their most influential paper, “Time-optimal motions of robots in assembly tasks” (1986), has garnered 212 citations, reflecting its lasting impact on the field. A subsequent version (1985) added 29 citations, further solidifying their reputation. Hepner’s research bridges theoretical optimization and practical robotics, offering engineers tools to reduce cycle times in assembly lines. This work remains a cornerstone for students and researchers exploring motion control, trajectory planning, and the intersection of dynamics and automation.