Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators. American Control Conference (ACC), 680--685, Portland, OR, USA, 2005. [PUMA: Festo ISYS control pneumatics robotics]
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant. IEEE Transactions on Robotics, (30)4:935--949, August 2014. [PUMA: BHA Festo ISYS redundant robotics]
Trajectory Optimization of Pneumatically Actuated, Redundant Continuum Manipulators. American Control Conference (ACC), 4008--4013, Portland, OR, USA, May 2014. [PUMA: BHA Festo ISYS optimal_control optimization robotics trajectory]
Dynamic Control of the Bionic Handling Assistant. IEEE/ASME Transactions on Mechatronics, (22)1:6--17, February 2016. [PUMA: BHA Festo ISYS control robotics]
A Variable Curvature Modeling Approach for Kinematic Control of Continuum Manipulators. American Control Conference (ACC), 4952--4957, Washington, DC, USA, June 2013. [PUMA: BHA Festo ISYS control model redundant robotics]
Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler–Lagrange Formalism. IEEE Transactions on Robotics, (31)6:1483--1496, December 2015. [PUMA: BHA Festo ISYS dynamic mechanics model robotics]
Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism. IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS), 2428--2433, Chicago, IL, USA, September 2014. [PUMA: BHA Festo ISYS dynamic model robotics]
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: BHA Festo ISYS dynamic redundant robotics trajectory]
Forward kinematics of a compliant pneumatically actuated redundant manipulator. IEEE Conference on Industrial Electronics and Applications (ICIEA), 1267--1273, July 2012. [PUMA: BHA Festo ISYS model redundant robotics]