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)

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)

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

Classification and recognition of contact states for force guided assembly. - Heiko Mosemann; A. Raue; Friedrich M. Wahl (SMC, 1998)

Identification of Assembly Process States Using Polyhedral Convex Cones. - Heiko Mosemann; A. Raue; Friedrich M. Wahl (ICRA, 1999)

Planning of Regrasp Operations. - Sascha Stoeter; Stephan Voss; Nikolaos Papanikolopoulos; Heiko Mosemann (ICRA, 1999)

Generating Polyhedral Convex Cones from Contact Graphs for the Identification of Assembly Process States. - Heiko Mosemann; T. Bierwirth; Friedrich M. Wahl; Sascha Stoeter (ICRA, 2000)

Automatic decomposition of planned assembly sequences into skill primitives. - Heiko Mosemann; Friedrich M. Wahl (IEEE Trans. Robotics Autom., 2001)