Calibration procedures for object locating sensors in flexible robotized machining. - Tapio Heikkilä; Jari M. Ahola; Jukka Koskinen; Tuomas Seppälä (MESA, 2014)

User-friendly task level programming based on an online walk-through teaching approach. - Alberto Brunete; Carlos Mateo 003; Ernesto Gambao; Miguel Hernando 001; Jukka Koskinen; Jari M. Ahola; Tuomas Seppälä; Tapio Heikkilä (Ind. Robot, 2016)

Calibration of the pose parameters between coupled 6-axis F/T sensors in robotics applications. - Jari M. Ahola; Tuomas Seppälä; Jukka Koskinen; Tapio Heikkilä (Robotics Auton. Syst., 2017)

Robot skills - modeling and control aspects. - Tapio Heikkilä; Jari M. Ahola (MESA, 2018)