Using constraints to achieve stability in automatic graph layout algorithms. - Karl-Friedrich Böhringer; Frances Newbery Paulisch (CHI, 1990)

A computational approach to the design of micromechanical hinged structures. - Karl-Friedrich Böhringer (Solid Modeling and Applications, 1993)

Sensorless Manipulation Using Massively Parallel Microfabricated Actuator Arrays. - Karl-Friedrich Böhringer; Bruce Randall Donald; Robert Mihailovich; Noel C. MacDonald (ICRA, 1994)

Sensorless manipulation using transverse vibrations of a plate. - Karl-Friedrich Böhringer; Vivek Bhatt; Kenneth Y. Goldberg (ICRA, 1995)

Distributed Robotic Manipulation: Experiments in Minimalism. - Karl-Friedrich Böhringer; Russell G. Brown; Bruce Randall Donald; James S. Jennings; Daniela Rus (ISER, 1995)

What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders. - Karl-Friedrich Böhringer; Bruce Randall Donald; Noel C. MacDonald (ICRA, 1996)

The Area Bisectors of a Polygon and Force Equilibria in Programmable Vector Fields. - Karl-Friedrich Böhringer; Bruce Randall Donald; Dan Halperin (SCG, 1997)

Vector fields for task-level distributed manipulation: experiments with organic micro actuator arrays. - Karl-Friedrich Böhringer; John W. Suh; Bruce Randall Donald; Gregory T. A. Kovacs (ICRA, 1997)

Programmable Force Fields for Distributed Manipulation, and Their Implementation Using Micro-fabricated Actuator Arrays. - Karl-Friedrich Böhringer (1997)

Parallel Microassembly with Electrostatic Force Fields. - Karl-Friedrich Böhringer; Kenneth Y. Goldberg; Michael Cohn; Roger Howe; Albert P. Pisano (ICRA, 1998)

Computing Parallel-Jaw Grips. - Gordon Smith; Eric Lee; Kenneth Y. Goldberg; Karl-Friedrich Böhringer; John Craig (ICRA, 1999)

On the Area Bisectors of a Polygon. - Karl-Friedrich Böhringer; Bruce Randall Donald; Dan Halperin (Discret. Comput. Geom., 1999)

Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders. - Karl-Friedrich Böhringer; Bruce Randall Donald; Noel C. MacDonald (Int. J. Robotics Res., 1999)

Fully Programmable MEMS Ciliary Actuator Arrays for Micromanipulation Tasks. - John W. Suh; R. Bruce Darling; Karl-Friedrich Böhringer; Bruce Randall Donald; Henry Baltes; Gregory T. A. Kovacs (ICRA, 2000)

Algorithms for Sensorless Manipulation Using a Vibrating Surface. - Karl-Friedrich Böhringer; Vivek Bhatt; Bruce Randall Donald; Kenneth Y. Goldberg (Algorithmica, 2000)

Part orientation with one or two stable equilibria using programmable force fields. - Karl-Friedrich Böhringer; Bruce Randall Donald; Lydia E. Kavraki; Florent Lamiraux (IEEE Trans. Robotics Autom., 2000)

Multi-batch micro-self-assembly via controlled capillary forces. - Xiaorong Xiong; Yael Hanein; Weihua Wang; Daniel T. Schwartz; Karl-Friedrich Böhringer (IROS, 2001)

Towards Optimal Strategies for Moving Droplets in Digital Microfluidic Systems. - Karl-Friedrich Böhringer (ICRA, 2004)

Geometric Binding Site Design for Surface-tension Driven Self-assembly. - Xiaorong Xiong; Sheng-Hsiung Liang; Karl-Friedrich Böhringer (ICRA, 2004)

Modeling and Controlling Parallel Tasks in Droplet-Based Microfluidic Systems. - Karl-Friedrich Böhringer (IEEE Trans. Comput. Aided Des. Integr. Circuits Syst., 2006)

Guest Editorial Microassembly for Manufacturing at Small Scales. - Philippe Lutz; Karl-Friedrich Böhringer; Cédric Clévy; Dan O. Popa; Quan Zhou 001 (IEEE Trans Autom. Sci. Eng., 2013)

Formulation and optimization of pulley-gear-type SMA heat engine toward microfluidic MEMS motor. - Hiroyuki Aono; Ryouta Imamura; Ohmi Fuchiwaki; Yuki Yamanashi; Karl-Friedrich Böhringer (IROS, 2014)