Towards an intuitive interface for instructing robots handling tasks based on verbalized physical effects. - Michael Spangenberg; Dominik Henrich (RO-MAN, 2014)

Grounding of actions based on verbalized physical effects and manipulation primitives. - Michael Spangenberg; Dominik Henrich (IROS, 2015)

Symbol grounding for symbolic robot commands based on physical properties. - Michael Spangenberg; Dominik Henrich (ICIA, 2016)

Symbolic Robot Commanding Utilizing Physical Properties - System Overview. - Michael Spangenberg; Dominik Henrich (KI, 2016)

Intuitive Roboterkommandierung basierend auf Verbalisierten Physikalischen Effekten - Michael Spangenberg (2017)