A control strategy for operating unknown constrained mechanisms. - Ewald Lutscher; Martin Lawitzky; Gordon Cheng; Sandra Hirche (ICRA, 2010)

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms. - Ewald Lutscher; Gordon Cheng (IROS, 2012)

FMRI study of young adults with autism interacting with a humanoid robot. - Thierry Chaminade; David Da Fonseca; Delphine Rosset; Ewald Lutscher; Gordon Cheng; Christine Deruelle (RO-MAN, 2012)

Operating Unknown Constrained Mechanisms with Compliant Robots. - Ewald Lutscher; Gordon Cheng (ROBOTIK, 2012)

A practical approach to generalized hierarchical task specification for indirect force controlled robots. - Ewald Lutscher; Gordon Cheng (IROS, 2013)

Constrained manipulation in unstructured environment utilizing hierarchical task specification for indirect force controlled robots. - Ewald Lutscher; Gordon Cheng (ICRA, 2014)

Hierarchical inequality task specification for indirect force controlled robots using quadratic programming. - Ewald Lutscher; Gordon Cheng (IROS, 2014)

Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots. - Ewald Lutscher; Emmanuel C. Dean-Leon; Gordon Cheng (IEEE Trans. Robotics, 2018)