Offline Trajectory Planning of a Pneumatically Actuated, Continuum Manipulator on the Example of the Bionic Handling Assistant. International Fluid Power Conference (IFK), (2):456--463, Aachen, Germany, March 2014. [PUMA: ISYS Festo robotics BHA dynamic trajectory redundant]
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant. IEEE Transactions on Robotics, (30)4:935--949, August 2014. [PUMA: ISYS Festo robotics BHA redundant]
Forward kinematics of a compliant pneumatically actuated redundant manipulator. IEEE Conference on Industrial Electronics and Applications (ICIEA), 1267--1273, July 2012. [PUMA: ISYS Festo robotics BHA model redundant]
A Variable Curvature Modeling Approach for Kinematic Control of Continuum Manipulators. American Control Conference (ACC), 4952--4957, Washington, DC, USA, June 2013. [PUMA: ISYS Festo robotics BHA control model redundant]