On the design and simulation-based validation of an active compliance law for multi-arm robots. - Hartmut Bruhm; J. Deisenroth; P. Schädler (Robotics Auton. Syst., 1989)

Simulation based analysis of elastic multi-arm robot control in cooperative motion: dynamic model formulation. - Mikhail M. Svinin; Hartmut Bruhm; Henning Tolle (Robotics, Mechatronics and Manufacturing Systems, 1993)

A Motion Control Strategy for Robots in Laser Material Processing and other High Speed Applications. - Hartmut Bruhm; Alexander Czinki; Markus Lotz; Volker Wenzel (ISR/ROBOTIK, 2010)

A real-time motion control strategy for redundant robots improving dynamics and accuracy. - Markus Lotz; Hartmut Bruhm; Alexander Czinki; Michael Zalewski (ICUMT, 2011)