Elastic Robot Trajectory Planning with Force Control. - Friedrich Pfeiffer; K. Richter; H. Wapenhans (Modelling the Innovation, 1990)

Hybrid Position and Force Control with Unsteady Assembly Dynamics. - H. Wapenhans; Wolfgang Seyfferth; Friedrich Pfeiffer (Robotics, Mechatronics and Manufacturing Systems, 1993)

Robotic Force Control for Flexible Assembly. - H. Wapenhans; Wolfgang Seyfferth; Friedrich Pfeiffer (ICRA (1), 1993)

Planning and Sensitivity Analysis of Automated Assembly Processes with Robots. - Joachim Steinle; H. Wapenhans; Friedrich Pfeiffer (ICRA, 1995)