Object-Oriented Design of a Distributed Blackboard Kernel. - Michael Weis (SEKE, 1993)

On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint. - Oliver Eiberger; Sami Haddadin; Michael Weis; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2010)