Dynamics and control of underactuated manipulation systems: A discrete-time approach. - Norbert Scherm; Bodo Heimann (Robotics Auton. Syst., 2000)

Model-based Feedforward Control in Industrial Robotics. - Martin Grotjahn; Bodo Heimann (Int. J. Robotics Res., 2002)

High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures. - Houssem Abdellatif; Martin Grotjahn; Bodo Heimann (CDC/ECC, 2005)

Nonlinear Discrete-Time Control Approaches for Underactuated Manipulators. - Dirk Weidemann; Norbert Scherm; Bodo Heimann; Houssem Abdellatif (CDC/ECC, 2005)

Adapted Time-Optimal Trajectory Planning for Parallel Manipulators with Full Dynamic Modelling. - Houssem Abdellatif; Bodo Heimann (ICRA, 2005)

Identification and appropriate parametrization of parallel robot dynamic models by using estimation statistical properties. - Houssem Abdellatif; Bodo Heimann; Oliver Hornung; Martin Grotjahn (IROS, 2005)

A model-based approach for visual guided grasping with uncalibrated system components. - Oliver Hornung; Bodo Heimann (IROS, 2005)

Konstruktion und Etablierung einer Klimakammer für die Untersuchung der embryonalen Herzentwicklung. - Stephan Baron; Gülay Orhan; Oliver Hornung; Holger Blume; Judith Misske; Kambiz Norozi; Armin Wessel; Talât Mesud Yelbuz; Bodo Heimann (Bildverarbeitung für die Medizin, 2006)

Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns. - Jens Kotlarski; Houssem Abdellatif; Bodo Heimann (ICRA, 2008)

Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. - Houssem Abdellatif; Bodo Heimann; Jens Kotlarski (IROS, 2008)

Modelling, identification and robust control of 6-DOF parallel manipulators. - Houssem Abdellatif; Bodo Heimann (Int. J. Model. Identif. Control., 2008)

A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators. - Houssem Abdellatif; Bodo Heimann (Robotica, 2008)

New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. - Jens Kotlarski; Roderick de Nijs; Houssem Abdellatif; Bodo Heimann (ICRA, 2009)

A robot-guided minimally invasive approach for cochlear implant surgery: preliminary results of a temporal bone study. - Omid Majdani; Thomas S. Rau; Stephan Baron; Hubertus Eilers; Claas Baier; Bodo Heimann; Tobias Ortmaier; Sönke Bartling; Thomas Lenarz; Martin Leinung (Int. J. Comput. Assist. Radiol. Surg., 2009)

Optimization strategies for additional actuators of kinematically redundant parallel kinematic machines. - Jens Kotlarski; Trung Do Thanh; Bodo Heimann; Tobias Ortmaier (ICRA, 2010)

Bahnplanung und Regelung unteraktuierter Manipulatoren mittels nichtlinearer zeitdiskreter Ansätze (Path-planning and Control of Underactuated Manipulators by Nonlinear Discrete-time Approaches). - Dirk Weidemann; Norbert Scherm; Bodo Heimann (Autom., 2010)

An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery. - Andreas Hussong; Thomas S. Rau; Tobias Ortmaier; Bodo Heimann; Thomas Lenarz; Omid Majdani (Int. J. Comput. Assist. Radiol. Surg., 2010)

Experimental identification of the dynamics model for 6-DOF parallel manipulators. - Houssem Abdellatif; Bodo Heimann (Robotica, 2010)

New Experimental Results on the Compensation of Static Friction in Passive Joints of Robotic Manipulators. - Houssem Abdellatif; Bodo Heimann (IEEE Trans. Control. Syst. Technol., 2010)

Experimental validation of the influence of kinematic redundancy on the pose accuracy of parallel kinematic machines. - Jens Kotlarski; Bodo Heimann; Tobias Ortmaier (ICRA, 2011)

A multi-axial electromagnetically actuated punch for cutting micro-components. - Matthias Dagen; Mauro Hernan Riva; Bodo Heimann; Tobias Ortmaier; Christian Wager; Richard Krimm; Bernd-Arno Behrens (ACC, 2012)