Error-tolerant execution of complex robot tasks based on skill primitives. - Ulrike Thomas; Bernd Finkemeyer; Torsten Kröger; Friedrich M. Wahl (ICRA, 2003)

A Task Frame Formalism for Practical Implementations. - Torsten Kröger; Bernd Finkemeyer; Friedrich M. Wahl (ICRA, 2004)

Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments. - Torsten Kröger; Bernd Finkemeyer; Markus Heuck; Friedrich M. Wahl (IROS, 2004)

Middleware zur Realisierung offener Steuerungssoftware für hochdynamische Prozesse (Realizing Open Control Software for High Dynamic Processes with a Middleware). - Karsten Diethers; Bernd Finkemeyer; Nnamdi Kohn (it Inf. Technol., 2004)

Forward-model-based control system for robot manipulators. - Rafael Osypiuk; Bernd Finkemeyer; Friedrich M. Wahl (Robotica, 2004)

Executing assembly tasks specified by manipulation primitive nets. - Bernd Finkemeyer; Torsten Kröger; Friedrich M. Wahl (Adv. Robotics, 2005)

Aktionsprimitive: Ein universelles Roboter-Programmierparadigma (Manipulation Primitives: An Universal Robot Programming Paradigma). - Bernd Finkemeyer; Torsten Kröger; Friedrich M. Wahl (Autom., 2005)

Multi-loop model-based control structure for robot manipulators. - Rafael Osypiuk; Bernd Finkemeyer; Friedrich M. Wahl (Robotica, 2005)

A Two-loop Implicit Force/Position Control Structure, based on a Simple Linear Model: Theory and Experiment. - Rafael Osypiuk; Torsten Kröger; Bernd Finkemeyer; Friedrich M. Wahl (ICRA, 2006)

Hybrid model-based force/position control: theory and experimental verification. - Rafael Osypiuk; Bernd Finkemeyer (Robotica, 2006)

Simple two degree of freedom structures and their properties. - Rafael Osypiuk; Bernd Finkemeyer; Stanislaw Skoczowski (Robotica, 2006)

A manipulator plays Jenga. - Torsten Kröger; Bernd Finkemeyer; Simon Winkelbach; Lars-Oliver Eble; Sven Molkenstruck; Friedrich M. Wahl (IEEE Robotics Autom. Mag., 2008)

The adaptive selection matrix - A key component for sensor-based control of robotic manipulators. - Bernd Finkemeyer; Torsten Kröger; Friedrich M. Wahl (ICRA, 2010)

A Middleware for High-Speed Distributed Real-Time Robotic Applications. - Bernd Finkemeyer; Torsten Kröger; Friedrich M. Wahl (Robotic Systems for Handling and Assembly, 2011)

Manipulation Primitives - A Universal Interface between Sensor-Based Motion Control and Robot Programming. - Torsten Kröger; Bernd Finkemeyer; Friedrich M. Wahl (Robotic Systems for Handling and Assembly, 2011)

Flexible Control of Complex Kinematic Chains. - Rainer Bischoff 002; Günter Schreiber; Bernd Finkemeyer; Yevgen Kogan; Marinus Danzer; Johannes Kurth (Towards Service Robots for Everyday Environments, 2012)

Towards safe human-robot collaboration. - Bernd Finkemeyer (MMAR, 2017)

Task-Oriented Programming System for Cobot-Assisted Assembly Workstations. - Bernd Finkemeyer; Peer Lüthje; Martin Scheuer; Wiebke Waller; Cindy Eggers; Jan Kasten (MMAR, 2023)

Real-time simulation of ship movements for a robot-assisted e-fueling process: A pathway to decarbonization through sector coupling. - Max Anton Senkbeil; Dominik Raup; Christoph Wree; Bernd Finkemeyer (MMAR, 2024)