Physical Human-Robot Interaction under Joint and Cartesian Constraints. - Juan D. Muñoz Osorio; Felix Allmendinger; Mario Daniele Fiore; Uwe E. Zimmermann; Tobias Ortmaier (ICAR, 2019)

Unilateral Constraints for Torque-based Whole-Body Control. - Juan D. Muñoz Osorio; Abdelrahman Abdelazim; Felix Allmendinger; Uwe E. Zimmermann (IROS, 2020)

Geometrical Interpretation and Detection of Multiple Task Conflicts using a Coordinate Invariant Index. - Vincenzo Schettino; Mario Daniele Fiore; Claudia Pecorella; Fanny Ficuciello; Felix Allmendinger; Johannes Lachner; Stefano Stramigioli; Bruno Siciliano (IROS, 2020)

Energy budgets for coordinate invariant robot control in physical human-robot interaction. - Johannes Lachner; Felix Allmendinger; Eddo Hobert; Neville Hogan; Stefano Stramigioli (Int. J. Robotics Res., 2021)

A Suitable Hierarchical Framework with Arbitrary Task Dimensions under Unilateral Constraints for physical Human Robot Interaction. - Juan David Muñoz Osorio; Felix Allmendinger (ICARSC, 2022)

Shaping Impedances to Comply With Constrained Task Dynamics. - Johannes Lachner; Felix Allmendinger; Stefano Stramigioli; Neville Hogan (IEEE Trans. Robotics, 2022)

A general constraint-based programming framework for multi-robot applications. - Mario Daniele Fiore; Felix Allmendinger; Ciro Natale (Robotics Comput. Integr. Manuf., 2024)