A skeleton-based approach to grasp known objects with a humanoid robot. - Markus Przybylski; Mirko Wächter; Tamim Asfour; Rüdiger Dillmann (Humanoids, 2012)

The ArmarX Framework - Supporting high level robot programming through state disclosure. - Kai Welke; Nikolaus Vahrenkamp; Mirko Wächter; Manfred Kröhnert; Tamim Asfour (GI-Jahrestagung, 2013)

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks. - Andrej Gams; Bojan Nemec; Leon Zlajpah; Mirko Wächter; Auke Jan Ijspeert; Tamim Asfour; Ales Ude (IROS, 2013)

High-Level Robot Control with ArmarX. - Nikolaus Vahrenkamp; Mirko Wächter; Manfred Kröhnert; Peter Kaiser 001; Kai Welke; Tamim Asfour (GI-Jahrestagung, 2014)

Multi-purpose natural language understanding linked to sensorimotor experience in humanoid robots. - Ekaterina Ovchinnikova; Mirko Wächter; Valerij Wittenbeck; Tamim Asfour (Humanoids, 2015)

Transferring object grasping knowledge and skill across different robotic platforms. - Ali Paikan; David Schiebener; Mirko Wächter; Tamim Asfour; Giorgio Metta; Lorenzo Natale (ICAR, 2015)

Hierarchical segmentation of manipulation actions based on object relations and motion characteristics. - Mirko Wächter; Tamim Asfour (ICAR, 2015)

The robot software framework ArmarX. - Nikolaus Vahrenkamp; Mirko Wächter; Manfred Kröhnert; Kai Welke; Tamim Asfour (it Inf. Technol., 2015)

Structural Bootstrapping - A Novel, Generative Mechanism for Faster and More Efficient Acquisition of Action-Knowledge. - Florentin Wörgötter; Christopher W. Geib; Minija Tamosiunaite; Eren Erdal Aksoy; Justus H. Piater; Hanchen Xiong; Ales Ude; Bojan Nemec; Dirk Kraft; Norbert Krüger; Mirko Wächter; Tamim Asfour (IEEE Trans. Auton. Ment. Dev., 2015)

Enriched manipulation action semantics for robot execution of time constrained tasks. - Eren Erdal Aksoy; You Zhou 007; Mirko Wächter; Tamim Asfour (Humanoids, 2016)

Workspace analysis for planning human-robot interaction tasks. - Nikolaus Vahrenkamp; Harry Arnst; Mirko Wächter; David Schiebener; Panagiotis Sotiropoulos; Michal Kowalik; Tamim Asfour (Humanoids, 2016)

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior. - Mirko Wächter; Simon Ottenhaus; Manfred Kröhnert; Nikolaus Vahrenkamp; Tamim Asfour (Frontiers Robotics AI, 2016)

A framework for evaluating motion segmentation algorithms. - Christian R. G. Dreher; Nicklas Kulp; Christian Mandery; Mirko Wächter; Tamim Asfour (Humanoids, 2017)

Autonomous narration of humanoid robot kitchen task experience. - Qingxiaoyang Zhu; Vittorio Perera; Mirko Wächter; Tamim Asfour; Manuela M. Veloso (Humanoids, 2017)

ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments. - Tamim Asfour; Lukas Kaul; Mirko Wächter; Simon Ottenhaus; Pascal Weiner; Samuel Rader; Raphael Grimm; You Zhou 007; Markus Grotz; Fabian Paus; Dmitriy Shingarey; Hans Haubert (Humanoids, 2018)

Temporal Concurrent Planning with Stressed Actions. - Fabian Peller; Mirko Wächter; Markus Grotz; Peter Kaiser 001; Tamim Asfour (Humanoids, 2018)

Grasping of Unknown Objects Using Deep Convolutional Neural Networks Based on Depth Images. - Philipp Schmidt 004; Nikolaus Vahrenkamp; Mirko Wächter; Tamim Asfour (ICRA, 2018)

Distance-Aware Dynamically Weighted Roadmaps for Motion Planning in Unknown Environments. - Adrian Knobloch; Nikolaus Vahrenkamp; Mirko Wächter; Tamim Asfour (IEEE Robotics Autom. Lett., 2018)

Planning High-Quality Grasps Using Mean Curvature Object Skeletons. - Nikolaus Vahrenkamp; Eduard Koch; Mirko Wächter; Tamim Asfour (IEEE Robotics Autom. Lett., 2018)

Integrating multi-purpose natural language understanding, robot's memory, and symbolic planning for task execution in humanoid robots. - Mirko Wächter; Ekaterina Ovchinnikova; Valerij Wittenbeck; Peter Kaiser 001; Sándor Szedmák; Wail Mustafa; Dirk Kraft; Norbert Krüger; Justus H. Piater; Tamim Asfour (Robotics Auton. Syst., 2018)

Learning and Execution of Object Manipulation Tasks on Humanoid Robots. - Mirko Wächter (KIT Scientific Publishing, 2018)

Evaluation of an Industrial Robotic Assistant in an Ecological Environment. - Baptiste Busch; Graham E. Deacon; Duncan Russell; Aude Billard; Giuseppe Cotugno 001; Mahdi Khoramshahi; Grigorios Skaltsas; Dario Turchi; Leonardo Urbano; Mirko Wächter; You Zhou 007; Tamim Asfour (RO-MAN, 2019)

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios. - Tamim Asfour; Fabian Paus; Mirko Wächter; Lukas Kaul; Samuel Rader; Pascal Weiner; Simon Ottenhaus; Raphael Grimm; You Zhou 007; Markus Grotz (IEEE Robotics Autom. Mag., 2019)

Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks. - Christian R. G. Dreher; Mirko Wächter; Tamim Asfour (IEEE Robotics Autom. Lett., 2020)