ARMAR-4: A 63 DOF torque controlled humanoid robot. - Tamim Asfour; Julian Schill; Heiner Peters; Cornelius Klas; Jens Bücker; Christian Sander; Stefan Schulz 003; Artem Kargov; Tino Werner; Volker Bartenbach (Humanoids, 2013)

Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot. - Shivesh Kumar; Abhilash Nayak; Heiner Peters; Christopher Schulz; Andreas Müller 002; Frank Kirchner (ARK, 2018)

Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation. - Christoph Stoeffler; Shivesh Kumar; Heiner Peters; Olivier Brüls; Andreas Müller 002; Frank Kirchner (Humanoids, 2018)

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. - Julian Eßer; Shivesh Kumar; Heiner Peters; Vinzenz Bargsten; Jose de Gea Fernandez; Carlos Mastalli; Olivier Stasse; Frank Kirchner (HUMANOIDS, 2021)

Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. - Christoph Stoeffler; Adriano del Rio Fernandez; Heiner Peters; Moritz Schilling; Shivesh Kumar (ARK, 2022)

Challenges of Autonomous In-field Fruit Harvesting and Concept of a Robotic Solution. - Tim Tiedemann; Florian Cordes; Matthis Keppner; Heiner Peters (ICINCO, 2022)

Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements. - Melya Boukheddimi; Shivesh Kumar; Heiner Peters; Dennis Mronga; Rohan Budhiraja; Frank Kirchner (ICRA, 2022)

Design Analysis of a Novel Belt-Driven Manipulator for Fast Movements. - Christoph Stoeffler; Janne Janzen; Adriano Del Río; Heiner Peters (CASE, 2024)