ARMAR-4: A 63 DOF torque controlled humanoid robot. - Tamim Asfour; Julian Schill; Heiner Peters; Cornelius Klas; Jens Bücker; Christian Sander; Stefan Schulz 003; Artem Kargov; Tino Werner; Volker Bartenbach (Humanoids, 2013)

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks. - Cornelius Klas; Felix Hundhausen; Jianfeng Gao 002; Christian R. G. Dreher; Stefan Reither; You Zhou 007; Tamim Asfour (ICRA, 2021)

A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots. - Cornelius Klas; Tamim Asfour (IROS, 2022)

On the Actuator Requirements for Human-Like Execution of Retargeted Human Motion on Humanoid Robots. - Cornelius Klas; André Meixner; Daniel Ruffler; Tamim Asfour (Humanoids, 2023)

Humanoid Robot Design Assistant - Requirements from Human Motion. - Velin Kossev; Cornelius Klas; Tamim Asfour (Humanoids, 2024)