Assembly Planning Using Symbolic Spatial Relationships. - Ralf Gutsche; Frank Röhrdanz; Friedrich M. Wahl (Graphics and Robotics, 1993)

Generating and evaluating stable assembly sequences. - Frank Röhrdanz; Heiko Mosemann; Friedrich M. Wahl (Adv. Robotics, 1996)

Geometrical and Physical Reasoning for Stable Assembly Sequence Planning. - Frank Röhrdanz; Heiko Mosemann; Friedrich M. Wahl (Geometric Modeling, 1997)

Generating and evaluating regrasp operations. - Frank Röhrdanz; Friedrich M. Wahl (ICRA, 1997)

High LAP: A High Level System for Generating, Representing, and Evaluating Assembly Sequences. - Frank Röhrdanz; Heiko Mosemann; Friedrich M. Wahl (Int. J. Artif. Intell. Tools, 1997)

Stability analysis of assemblies considering friction. - Heiko Mosemann; Frank Röhrdanz; Friedrich M. Wahl (IEEE Trans. Robotics Autom., 1997)

Modellbasierte automatisierte Greifplanung - Frank Röhrdanz (1997)

Assembly Stability as a Constraint for Assembly Sequence Planning. - Heiko Mosemann; Frank Röhrdanz; Friedrich M. Wahl (ICRA, 1998)