Control of robots with elastic joints based on automatic generation of inverse dynamics models. - Michael Thümmel; Martin Otter; Johann Bals (IROS, 2001)

Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots. - Robert Höpler; Michael Thümmel (ICRA, 2004)

An Acceleration-based State Observer for Robot Manipulators with Elastic Joints. - Alessandro De Luca 001; Dierk Schröder; Michael Thümmel (ICRA, 2007)