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Combining Analytical and Behavioural Models for Manipulator Fault Detection Using Fuzzy Techniques. Robotik 2008, VDI-Berichte 2012. :301–304.. 2008.
Estimating Inertial Load Parameters Using Force/Torque and Acceleration Sensor Fusion. Robotik 2008, VDI-Berichte 2012. :29–32.. 2008.
Improving Force Control Performance by Computational Elimination of Non-Contact Forces/Torques. Proc. of IEEE International Conference on Robotics and Automation Pasadena. :2617–2622.. 2008.
On-Line Estimation of Inertial Parameters Using a Recursive Total Least-Squares Approach. IEEE Int. Conf. on Intelligent Robots and Systems. :3845–3852.. 2008.
Anwendungen von Kraft/Beschleunigungs-Sensordatenfusion. VDE/VDI GMA-Fachausschuss 4.13.. 2007.
Force and Acceleration Sensor Fusion for Compliant Manipulation Control in Six Degrees of Freedom. Advanced Robotics, Special Issue on Selected Papers from IROS 2006 VSP and Robotics Society of Japan. 21:1603–1616.. 2007.
MiRPA: Middleware for Robotic and Process Control Applications. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware. IEEE International Conference on Intelligent Robots and Systems. :76–900.. 2007.
On-Line Rigid Object Recognition and Pose Estimation Based on Inertial Parameters. Proc. of IEEE International Conference on Intelligent Robots and Systems. :1402–1408.. 2007.
6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control. IEEE International Conference on Intelligent Robots and Systems. :2626–2631.. 2006.