RDT+: A parameter-free algorithm for exact motion planning. - Nikolaus Vahrenkamp; Peter Kaiser 001; Tamim Asfour; Rüdiger Dillmann (ICRA, 2011)

Constellation - An algorithm for finding robot configurations that satisfy multiple constraints. - Peter Kaiser 001; Dmitry Berenson; Nikolaus Vahrenkamp; Tamim Asfour; Rüdiger Dillmann; Siddhartha S. Srinivasa (ICRA, 2012)

Grounded spatial symbols for task planning based on experience. - Kai Welke; Peter Kaiser 001; Alexey Kozlov; Nils Adermann; Tamim Asfour; Mike Lewis; Mark Steedman (Humanoids, 2013)

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

Extracting whole-body affordances from multimodal exploration. - Peter Kaiser 001; David Israel Gonzalez-Aguirre; Fabian Schultje; Júlia Borràs Sol; Nikolaus Vahrenkamp; Tamim Asfour (Humanoids, 2014)

Extracting common sense knowledge from text for robot planning. - Peter Kaiser 001; Mike Lewis; Ronald P. A. Petrick; Tamim Asfour; Mark Steedman (ICRA, 2014)

Validation of whole-body loco-manipulation affordances for pushability and liftability. - Peter Kaiser 001; Markus Grotz; Eren Erdal Aksoy; Martin Do; Nikolaus Vahrenkamp; Tamim Asfour (Humanoids, 2015)

IK-Map: An enhanced workspace representation to support inverse kinematics solvers. - Nikolaus Vahrenkamp; Dominik Muth; Peter Kaiser 001; Tamim Asfour (Humanoids, 2015)

On the Dualities Between Grasping and Whole-Body Loco-Manipulation Tasks. - Tamim Asfour; Júlia Borràs Sol; Christian Mandery; Peter Kaiser 001; Eren Erdal Aksoy; Markus Grotz (ISRR (2), 2015)

Extraction of Whole-Body Affordances for Loco-Manipulation Tasks. - Peter Kaiser 001; Nikolaus Vahrenkamp; Fabian Schultje; Júlia Borràs Sol; Tamim Asfour (Int. J. Humanoid Robotics, 2015)

An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. - Peter Kaiser 001; Dimitrios Kanoulas; Markus Grotz; Luca Muratore; Alessio Rocchi; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Tamim Asfour (Humanoids, 2016)

Towards a hierarchy of loco-manipulation affordances. - Peter Kaiser 001; Eren Erdal Aksoy; Markus Grotz; Tamim Asfour (IROS, 2016)

Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction. - Peter Kaiser 001; Eren Erdal Aksoy; Markus Grotz; Dimitrios Kanoulas; Nikos G. Tsagarakis; Tamim Asfour (ISER, 2016)

Graph-based visual semantic perception for humanoid robots. - Markus Grotz; Peter Kaiser 001; Eren Erdal Aksoy; Fabian Paus; Tamim Asfour (Humanoids, 2017)

A combined approach for robot placement and coverage path planning for mobile manipulation. - Fabian Paus; Peter Kaiser 001; Nikolaus Vahrenkamp; Tamim Asfour (IROS, 2017)

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

Affordance-Based Multi-Contact Whole-Body Pose Sequence Planning for Humanoid Robots in Unknown Environments. - Peter Kaiser 001; Christian Mandery; Andreas Boltres; Tamim Asfour (ICRA, 2018)

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm. - Júlia Borràs Sol; Raphael Heudorfer; Samuel Rader; Peter Kaiser 001; Tamim Asfour (IROS, 2018)

Autonomous Detection and Experimental Validation of Affordances. - Peter Kaiser 001; 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)

Whole-Body Affordances for Humanoid Robots: A Computational Approach. - Peter Kaiser 001 (KIT Scientific Publishing, 2018)