A Framework for a Fault Tolerant and Learning Robotic Assembly System. - Frank Nägele; Martin Naumann; Alexander Verl (ROBOTIK, 2012)

Intuitive Constraint-Based Robot Programming for Robotic Assembly Tasks. - Lorenz Halt; Frank Nägele; Philipp Tenbrock; Andreas Pott (ICRA, 2018)

A Prototype-Based Skill Model for Specifying Robotic Assembly Tasks. - Frank Nägele; Lorenz Halt; Philipp Tenbrock; Andreas Pott (ICRA, 2018)

Composition and Incremental Refinement of Skill Models for Robotic Assembly Tasks. - Frank Nägele; Lorenz Halt; Philipp Tenbrock; Andreas Pott (IRC, 2019)

Unobstructed Programming-by-Demonstration for Force-Based Assembly Utilizing External Force-Torque Sensors. - Daniel Bargmann; Philipp Tenbrock; Lorenz Halt; Frank Nägele; Werner Kraus; Marco F. Huber (SMC, 2021)

Simulation-based Learning of the Peg-in-Hole Process Using Robot-Skills. - Arik Lämmle; Philipp Tenbrock; Balázs András Bálint; Frank Nägele; Werner Kraus; József Váncza; Marco F. Huber (IROS, 2022)

Skill-based Robot Programming in Mixed Reality with Ad-hoc Validation Using a Force-enabled Digital Twin. - Jan Krieglstein; Gesche Held; Balázs András Bálint; Frank Nägele; Werner Kraus (ICRA, 2023)